A method in a computerized system including an image sensor mounted in a moving vehicle. The image sensor captures image frames consecutively in real time. In one of the image flames, a spot is detected of measurable brightness; the spot is matched in subsequent image frames. The image frames are available for sharing between the computerized system and another vehicle control system. The spot and the corresponding spot are images of the same object. The object is typically one or more of headlights from an oncoming vehicle, taillights of a leading vehicle, streetlights, street signs and/or traffic signs. Data is acquired from the spot and from the corresponding spot. By processing the data, the object (or spot) is classified. producing an object classification. The vehicle control system controls preferably headlights of the moving vehicle based on the object classification. The other vehicle control system using the image frames is one or more of: lane departure warning system, collision warning system and/or ego-motion estimation system.