A vehicle imaging system includes an imaging sensor, an imaging sensor bracket and an image processor. A vehicle mounting portion of the bracket is configured to mount at a mounting element for a license plate of the vehicle, and a sensor mounting portion of the bracket is angled with respect to the vehicle mounting portion such that the sensor mounting portion extends generally rearwardly when the bracket is fastened at the license plate mounting element. The imaging sensor generates a signal indicative of an image representative of a scene occurring within the field of view. The image processor receives the signal and processes the signal and generates an output signal representative of the imaged scene. The system may include a display, which may display at least one iconistic representation of at least one detected relevant object in response to an output signal generated by the image processor.