Abstract: A signalling system includes first and second signalling devices. The first signalling device including a retro-reflector modulator, having a lens, a modulator and a reflector, and being operable to receive, modulate and reflect the modulated signal back to the second signalling device. The second signalling device including a signal generator, a receiver for receiving the modulated signal from the first signalling device and a processor for retrieving modulation data from the received modulated signal. The lens of the first signalling device includes a telecentric lens.