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This paper presents a compact and robust solution to use stereo vision to detect pedestrians as well as measure their instantaneous distances from the vehicle. This simplifies sensor requirements as the same video information (captured from two cameras) is used for detection of pedestrians as well as measurement of their corresponding distances. To apply stereo vision technique a novel approach has been made to locate identical points on human so that triangulation can be used for measuring distances. In addition to this, the paper also presents a novel technique used to make the pedestrian detection algorithm (based on well know Viola-Jones methodology) more robust by using tracking and assistive decision making (i.e. one camera helps other to eliminate noise). The proposed system is tested on standard x86 machine and gives good real time performance.