Abstract: A computer-implemented system for processing image data. The system comprises: a sensor operable to capture image data comprising an image of an environment of the sensor; and a processing circuit comprising: a processor; and a computer-readable storage medium comprising computer-readable instructions which, when executed, cause the processor to: receive the image data from the sensor; process the image data using a first path through a neural network to obtain first data, the first path configured to indicate a presence in the environment of one or more objects of a predetermined object type; process the image data using a second path through a neural network to obtain second data, the second path configured to indicate a presence in the environment of one or more object characteristics corresponding to the predetermined object type; and generate output data using the first and second data, wherein the first and second paths are arranged to be enable the first and second data to be obtained in parallel.