Abstract: A computer-implemented method for simulating an image of a terrain scanned by a simulated radar beam generated by a simulated radar antenna, comprising: calculating on a first processor a power reflected by the terrain while an orientation of the simulated radar antenna is varied within a scanning antenna range; calculating on a plurality of second processors a convolution power for the terrain while the orientation of the simulated radar antenna is varied within the scanning antenna range, said calculating on a first processor and said calculating on a plurality of second processors being performed concurrently and in parallel; combining the power reflected by the terrain and the convolution power, thereby obtaining combined data; generating a radar image using the combined data; and outputting the radar image.

Abstract: A computer-implemented method for simulating an image of a terrain scanned by a simulated radar beam generated by a simulated radar antenna, comprising: calculating on a first processor a power reflected by the terrain while an orientation of the simulated radar antenna is varied within a scanning antenna range; calculating on a plurality of second processors a convolution power for the terrain while the orientation of the simulated radar antenna is varied within the scanning antenna range, said calculating on a first processor and said calculating on a plurality of second processors being performed concurrently and in parallel; combining the power reflected by the terrain and the convolution power, thereby obtaining combined data; generating a radar image using the combined data; and outputting the radar image.

Abstract: A method of generating a three-dimensional (3D) representation of an environment or system, wherein the method comprises the following steps, i) obtaining a plurality of sets of range-data each providing range-data to features within at least a portion of the environment or system; ii) processing the plurality of sets of range-data to fuse the data and generate a set voxels holding data to represent the 3D environment or system; ii) identifying one or more subsets of the set of voxels; and iii) applying a regularisation process to at least one of the one or more subsets to modify the data held by at least some of the voxels in the one or more subsets wherein the set of voxels provides the 3D representation of the environment.