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As semi-autonomous and autonomous vehicles are finding more and more applications in agriculture, the capability of detecting obstacles in the field and taking appropriate safety actions is becoming more critical. This article presents an obstacle detection system using a binocular stereo camera. Field tests using a standing person as the potential obstacle indicated that the system could reliably detect the obstacle and its motion status in the vicinity of an agricultural vehicle, although the accuracy of the system decreased as the range between the vehicle and obstacle increased.