Abstract: A method for identifying at least one intensity peak of a specularly reflected light beam including: a step (E1) of detecting at least one intensity peak of a light beam present in a first image taken at instant t; a step (E2) of calculating a vector (N) normal to a surface at each point of the first image associated with an intensity peak detected in step (E1); a step (E3) of calculating a vector (L) of the direction of the incident light beam at each point of the first image taken at instant (t), associated with an intensity peak detected in step (E1); a step (E4) of determining the co-linearity between the normal vector (N) and the vector (L) of the direction of the incident light beam in order to identify an intensity peak of the specularly reflected light beam.

Abstract: A system for determining at least one pitch angle of a trailer relative to a towing vehicle, the system including a camera mounted on the towing vehicle and capable of acquiring images of the trailer in which lines of the trailer parallel to the axis of the trailer are visible, and a computer configured to perform the following steps: implementing a line-detection algorithm on at least one image of the trailer acquired by the camera, detecting in the image the lines of the trailer parallel to the trailer axis, corresponding to vanishing lines, and deducing from the vanishing lines a position of the vanishing point, and from the coordinates of the vanishing point, determining at least one pitch angle of the trailer with respect to the towing vehicle.

Abstract: A method for identifying at least one intensity peak of a specularly reflected light beam including: a step (E1) of detecting at least one intensity peak of a light beam present in a first image taken at instant t; a step (E2) of calculating a vector (N) normal to a surface at each point of the first image associated with an intensity peak detected in step (E1); a step (E3) of calculating a vector (L) of the direction of the incident light beam at each point of the first image taken at instant (t), associated with an intensity peak detected in step (E1); a step (E4) of determining the co-linearity between the normal vector (N) and the vector (L) of the direction of the incident light beam in order to identify an intensity peak of the specularly reflected light beam.

Abstract: A system for determining at least one pitch angle of a trailer relative to a towing vehicle, the system including a camera mounted on the towing vehicle and capable of acquiring images of the trailer in which lines of the trailer parallel to the axis of the trailer are visible, and a computer configured to perform the following steps: implementing a line-detection algorithm on at least one image of the trailer acquired by the camera, detecting in the image the lines of the trailer parallel to the trailer axis, corresponding to vanishing lines, and deducing from the vanishing lines a position of the vanishing point, and from the coordinates of the vanishing point, determining at least one pitch angle of the trailer with respect to the towing vehicle.

Abstract: A method for processing data provided by a lidar. Obtaining, for measurement points of a lidar, data representative of a diffuse intensity and a distance between the measurement point and the lidar; determining an angle of incidence of the lidar at each measurement point; calculating, for each measurement point, reflectivity from the angle of incidence, the distance and the diffuse intensity; identifying spatially adjacent measurement points having a reflectivity within a given range of values to form common reflectivity zones; defining a cost function for at least one common reflectivity zone, the cost function including a first diffuse intensity and a second diffuse intensity, the angle and the distance of the measurement point in question; minimizing the cost function in order to update at least one of the angle, the distance and the reflectivity at the measurement point, for each of the measurement points belonging to a common reflectivity zone.

Abstract: A method for implementing a LIDAR device in a motor vehicle, including the following steps: determining the number of bright nearby points of the point cloud, a bright nearby point being defined as a point that meets the following two conditions: the distance of separation corresponding to the point is less than a first predetermined distance threshold; and the light intensity corresponding to the point is higher than a first predetermined light intensity threshold; when the number of bright nearby points is higher than a predetermined crosstalk filtering activation threshold, identifying each crosstalk-related point that meets the following two conditions: the distance of separation corresponding to the point is less than a second predetermined distance threshold; and the light intensity corresponding to the point is lower than a second predetermined brightness threshold.

Abstract: A method of processing images allowing the identification of at least one same point appearing on each image of a sequence of images, the sequence of images including a first image, a second image and a third image generated respectively at a first instant, a second instant, later than the first instant, and a third instant, later than the second instant, by a camera mounted in an automotive vehicle. The method includes detecting a plurality of identical points in each image of the sequence of images, relating to a plurality of repetitive patterns in each image of the sequence of images and of identification, in the second image and in the third image, of the identical points corresponding to the points in space for which the calculated depth is identical, these points in space representing respectively in the second image and the third image one and the same real point.

Abstract: A method of processing images allowing the identification of at least one same point appearing on each image of a sequence of images, the sequence of images including a first image, a second image and a third image generated respectively at a first instant, a second instant, later than the first instant, and a third instant, later than the second instant, by a camera mounted in an automotive vehicle. The method includes detecting a plurality of identical points in each image of the sequence of images, relating to a plurality of repetitive patterns in each image of the sequence of images and of identification, in the second image and in the third image, of the identical points corresponding to the points in space for which the calculated depth is identical, these points in space representing respectively in the second image and the third image one and the same real point.