Abstract: Apparatus for and method of processing sensor data for the purpose of navigating a vehicle (for example an autonomous or semi-autonomous vehicle), the sensor data being from a sensor (for example a camera) mounted on the vehicle. The method can include can include: for a number of time-steps, measuring a value of a parameter of a scene using the sensor to produce a sequence of images of the scene; determining a value of one or more image quality metrics (for example, spatial entropy and spatial information) in each image in the sequence; and identifying as either valid or invalid, a sub-sequence of images in the sequence based on the determined metric values.

Abstract: Apparatus for and method of processing sensor data for the purpose of navigating a vehicle (for example an autonomous or semi-autonomous vehicle), the sensor data being from a sensor (for example a camera) mounted on the vehicle. The method can include can include: for a number of time-steps, measuring a value of a parameter of a scene using the sensor to produce a sequence of images of the scene; determining a value of one or more image quality metrics (for example, spatial entropy and spatial information) in each image in the sequence; and identifying as either valid or invalid, a sub-sequence of images in the sequence based on the determined metric values.

Abstract: A method and apparatus for processing sensor data comprising measuring a value of a first parameter of a scene using a first sensor (e.g. a camera) to produce a first image of the scene, measuring a value of a second parameter of the scene using a second sensor (e.g. a laser scanner) to produce a second image, identifying a first point of the first image that corresponds to a class of features of the scene, identifying a second point of the second image that corresponds to the class of features, projecting the second point onto the first image, determining a similarity value between the first point and the projection of the second point on to the first image, and comparing the determined similarity value to a predetermined threshold value. The method or apparatus may be used on an autonomous vehicle.