Abstract: A 3D imaging system includes a light source arranged to illuminate a scene with at least one optical pulse including light of at least two discrete wavelengths; an optical detector including an array of detection elements; and an optical modulator interposed in the optical path between the scene and the optical detector, the modulator being arranged to differentially amplitude modulate the two wavelengths in the reflected portion of the optical pulse as a function of time.

Abstract: A method of detecting objects located in an environment around a vehicle, comprises the steps of obtaining a 2D image of a scene from an image capture device fitted to the vehicle, generating a set of particles that each comprise a set of parameters that define the state of at least one object that may be present in the scene, calculating an edge strength and edge direction for each pixel of the captured 2D image; and for each particle in the set: generating a 3D probabilistic model of the object that is associated with the particle, the model defining a set of edges of the object, each edge in the model defined by at least one likelihood function defining a probabilistic distribution of at least one characteristic of the edge, mapping the likelihood functions of the probabilistic model into the 2D plane of the captured image as a function of the parameters of the particle; and processing the edge strength and edge direction values with the probability values to determine the likelihood that the particle defi

Abstract: A method of determining the boundary of a driveable space in a scene around a vehicle, comprises capturing a first colour image of the scene, computing a set of histograms of oriented gradients, for instance using a HOG algorithm, each histogram corresponding to a cell in a set of cells, assigning an entropy value to the cell by computing the entropy of the histogram for the cell, dividing the image into bins in a way that corresponds to a rectangular grid in the real world, and calculating an overall entropy value for each bin from the entropy values for the cells in the bin and an overall colour characteristic value for each bin. The entropy value and colour characteristic value for each bin are fed into a classifier that is configured to classify regions of the image corresponding to each bin as regions likely to be driveable space or that are not likely to be driveable space, from which the boundary is derived.

Abstract: A method of detecting objects located in an environment around a vehicle, comprises the steps of obtaining a 2D image of a scene from an image capture device fitted to the vehicle, generating a set of particles that each comprise a set of parameters that define the state of at least one object that may be present in the scene, calculating an edge strength and edge direction for each pixel of the captured 2D image; and for each particle in the set: generating a 3D probabilistic model of the object that is associated with the particle, the model defining a set of edges of the object, each edge in the model defined by at least one likelihood function defining a probabilistic distribution of at least one characteristic of the edge, mapping the likelihood functions of the probabilistic model into the 2D plane of the captured image as a function of the parameters of the particle; and processing the edge strength and edge direction values with the probability values to determine the likelihood that the particle defi

Abstract: A method of and apparatus for processing received radiation (e.g. RADAR radiation) reflected from a target, the method comprising generating a set of predicted targets, the set of predicted targets comprising at least one member, each member representing a state of the target, generating a predicted waveform for the radiation for each member dependent upon the state of the target, and comparing each predicted waveform with a waveform of the received radiation to determine the accuracy with which the state of the target represented by the member for which the predicted waveform was generated matches an actual state of the target.

Abstract: A method of determining the boundary of a driveable space in a scene around a vehicle, comprises capturing a first colour image of the scene, computing a set of histograms of oriented gradients, for instance using a HOG algorithm, each histogram corresponding to a cell in a set of cells, assigning an entropy value to the cell by computing the entropy of the histogram for the cell, dividing the image into bins in a way that corresponds to a rectangular grid in the real world, and calculating an overall entropy value for each bin from the entropy values for the cells in the bin and an overall colour characteristic value for each bin. The entropy value and colour characteristic value for each bin are fed into a classifier that is configured to classify regions of the image corresponding to each bin as regions likely to be driveable space or that are not likely to be driveable space, from which the boundary is derived.

Abstract: A 3D imaging system includes a light source arranged to illuminate a scene with at least one optical pulse including light of at least two discrete wavelengths; an optical detector including an array of detection elements; and an optical modulator interposed in the optical path between the scene and the optical detector, the modulator being arranged to differentially amplitude modulate the two wavelengths in the reflected portion of the optical pulse as a function of time.

Abstract: A transceiver circuit includes a signal generator arranged to generate an output signal; a transmitter coupled to the signal generator so as to transmit the output signal; a receiver arranged to receive a received signal; a mixer coupled to the receiver and to the signal generator so as to mix the output signal and the received signal so as to produce a mixed signal; and at least one filter coupled to the mixer so as to act upon the mixed signal to produce a filtered signal. The filtered signal includes an unwanted portion of the output signal is received at the receiver without having been reflected from a target. The transceiver circuit further includes a correction circuit arranged to generate a simulated waveform that simulates the behavior of the each filter to the unwanted portion of the output signal and applies a correction so as to remove the simulated waveform from the filtered signal.

Abstract: A method of and apparatus for processing received radiation (e.g. RADAR radiation) reflected from a target, the method comprising generating a set of predicted targets, the set of predicted targets comprising at least one member, each member representing a state of the target, generating a predicted waveform for the radiation for each member dependent upon the state of the target, and comparing each predicted waveform with a waveform of the received radiation to determine the accuracy with which the state of the target represented by the member for which the predicted waveform was generated matches an actual state of the target.

Abstract: A transceiver circuit includes a signal generator arranged to generate an output signal; a transmitter coupled to the signal generator so as to transmit the output signal; a receiver arranged to receive a received signal; a mixer coupled to the receiver and to the signal generator so as to mix the output signal and the received signal so as to produce a mixed signal; and at least one filter coupled to the mixer so as to act upon the mixed signal to produce a filtered signal. The filtered signal includes an unwanted portion of the output signal is received at the receiver without having been reflected from a target. The transceiver circuit further includes a correction circuit arranged to generate a simulated waveform that simulates the behavior of the each filter to the unwanted portion of the output signal and applies a correction so as to remove the simulated waveform from the filtered signal.

Abstract: A rain detection apparatus includes a camera that views a surface and a processor that captures an image from the camera. The processor generates a signal indicative of rain on the surface from information contained in the captured image and optionally drives a surface cleaning apparatus in response thereto. The apparatus captures images focused at a plurality of distances. The processor includes an edge detector that detects edges visible in the captured image and a difference structure that calculates the difference between the number of edges visible between differing images. The edge detector disregards edges close to areas of light larger than the largest raindrop that is desired or expected to be detected. The apparatus optionally includes a backlight, and the difference in numbers of edges between frames with and without the backlight illuminated are used to distinguish between background features and rain on the surface.

Abstract: A rain detection apparatus includes a camera that views a surface and a processor that captures an image from the camera. The processor generates a signal indicative of rain on the surface from information contained in the captured image and optionally drives a surface cleaning apparatus in response thereto. The apparatus captures images focused at a plurality of distances. The processor includes an edge detector that detects edges visible in the captured image and a difference structure that calculates the difference between the number of edges visible between differing images. The edge detector disregards edges close to areas of light larger than the largest raindrop that is desired or expected to be detected. The apparatus optionally includes a backlight, and the difference in numbers of edges between frames with and without the backlight illuminated are used to distinguish between background features and rain on the surface.

Abstract: A rain detection apparatus includes a camera that views a surface and a processor that captures an image from the camera. The processor generates a signal indicative of rain on the surface from information contained in the captured image and optionally drives a surface cleaning apparatus in response thereto. The apparatus captures images focused at a plurality of distances. The processor includes an edge detector that detects edges visible in the captured image and a difference structure that calculates the difference between the number of edges visible between differing images. The edge detector disregards edges close to areas of light larger than the largest raindrop that is desired or expected to be detected. The apparatus optionally includes a backlight, and the difference in numbers of edges between frames with and without the backlight illuminated are used to distinguish between background features and rain on the surface.

Abstract: A rain detection apparatus includes a camera that views a surface and a processor that captures an image from the camera. The processor generates a signal indicative of rain on the surface from information contained in the captured image and optionally drives a surface cleaning apparatus in response thereto. The apparatus captures images focused at a plurality of distances. The processor includes an edge detector that detects edges visible in the captured image and a difference structure that calculates the difference between the number of edges visible between differing images. The edge detector disregards edges close to areas of light larger than the largest raindrop that is desired or expected to be detected. The apparatus optionally includes a backlight, and the difference in numbers of edges between frames with and without the backlight illuminated are used to distinguish between background features and rain on the surface.

Abstract: An electric assisted steering control strategy for a steering system for a vehicle is arranged to assist the driver in controlling the vehicle during a split mu braking operation. The steering is provided with assistance being based on at least one operational variable representing a corrective steer angle for the vehicle which is added to a main assistance torque via a driver feedback controller, and the strategy is adapted to employ an estimate of yaw moment of the vehicle as the operational variable, the yaw moment being determined by processing the speed of wheels on opposite sides of the vehicle.

Abstract: A rain detection apparatus includes a camera that views a surface and a processor that captures an image from the camera. The processor generates a signal indicative of rain on the surface from information contained in the captured image and optionally drives a surface cleaning apparatus in response thereto. The apparatus captures images focused at a plurality of distances. The processor includes an edge detector that detects edges visible in the captured image and a difference structure that calculates the difference between the number of edges visible between differing images. The edge detector disregards edges close to areas of light larger than the largest raindrop that is desired or expected to be detected. The apparatus optionally includes a backlight, and the difference in numbers of edges between frames with and without the backlight illuminated are used to distinguish between background features and rain on the surface.

Abstract: A rain detection apparatus includes a camera that views a surface and a processor that captures an image from the camera. The processor generates a signal indicative of rain on the surface from information contained in the captured image and optionally drives a surface cleaning apparatus in response thereto. The apparatus captures images focused at a plurality of distances. The processor includes an edge detector that detects edges visible in the captured image and a difference structure that calculates the difference between the number of edges visible between differing images. The edge detector disregards edges close to areas of light larger than the largest raindrop that is desired or expected to be detected. The apparatus optionally includes a backlight, and the difference in numbers of edges between frames with and without the backlight illuminated are used to distinguish between background features and rain on the surface.

Abstract: A rain detection apparatus includes a camera that views a surface and a processor that captures an image from the camera. The processor generates a signal indicative of rain on the surface from information contained in the captured image and optionally drives a surface cleaning apparatus in response thereto. The apparatus captures images focused at a plurality of distances. The processor includes an edge detector that detects edges visible in the captured image and a difference structure that calculates the difference between the number of edges visible between differing images. The edge detector disregards edges close to areas of light larger than the largest raindrop that is desired or expected to be detected. The apparatus optionally includes a backlight, and the difference in numbers of edges between frames with and without the backlight illuminated are used to distinguish between background features and rain on the surface.

Abstract: A rain detection apparatus includes a camera that views a surface and a processor that captures an image from the camera. The processor generates a signal indicative of rain on the surface from information contained in the captured image and optionally drives a surface cleaning apparatus in response thereto. The apparatus captures images focused at a plurality of distances. The processor includes an edge detector that detects edges visible in the captured image and a difference structure that calculates the difference between the number of edges visible between differing images. The edge detector disregards edges close to areas of light larger than the largest raindrop that is desired or expected to be detected. The apparatus optionally includes a backlight, and the difference in numbers of edges between frames with and without the backlight illuminated are used to distinguish between background features and rain on the surface.

Abstract: A rain detection apparatus and method, comprising a camera adapted to view a surface and a processor adapted to capture at least one image from the camera, in which the processor is further adapted to generate at least one signal indicative of the presence of rain on the surface from information contained in the at least one captured image and to, optionally drive surface cleaning apparatus in response thereto, in which the apparatus is adapted to capture images focused at a plurality of distances; in which the processor includes edge detection means adapted to detect edges visible in the at least one captured image and difference means adapted to calculate the difference between the number of edges visible between differing images; and in which the edge detection means is further adapted to disregard edges close to areas of light larger than the largest raindrop that is desired or expected to be detected.