Abstract: A method of identifying, with a camera, an object in an image of a scene, by determining the distinctiveness of each of a number of attributes of an object of interest, independent of the camera viewpoint, determining the detectability of each of the attributes based on the relative orientation of a candidate object in the image of the scene, determining a camera setting for viewing the candidate object based on the distinctiveness of an attribute, so as to increase the detectability of the attribute, and capturing an image of the candidate object with the camera setting to determine the confidence that the candidate object is the object of interest.

Abstract: A method of determining a boundary of an obstacle which occludes an object in an image, is disclosed. At least one object in the image and a further image captured by a camera is determined. A plurality of regions in which the at least one object is detected, is determined from the images. Locations of edges of the plurality of regions are determined A common location is determined from the determined edges. The boundary of the obstacle is determined, where the boundary comprises a part of the edges at the common location.

Abstract: A method of determining a property of an image (176) captured by a camera (127), is disclosed. Vanishing points (320, 330, 340) in the image (176). Each pixel of the image (176) is associated with one or more of the vanishing points (320, 330, 340) based on an orientation of the image gradient at the pixel. The image is partitioned into a set of regions associated with a pair of the determined vanishing points based on the vanishing point associations for pixels in the image (176). Boundaries of the regions are aligned with the associated vanishing points. For at least one of the plurality of regions, a confidence value is determined for the property of the image based on pixels in the region. The property of the image is determined for one or more pixels within the image (176) based on the confidence value.

Abstract: A method of determining a boundary of an obstacle which occludes an object in an image, is disclosed. At least one object in the image and a further image captured by a camera is determined. A plurality of regions in which the at least one object is detected, is determined from the images. Locations of edges of the plurality of regions are determined A common location is determined from the determined edges. The boundary of the obstacle is determined, where the boundary comprises a part of the edges at the common location.

Abstract: A method of detecting a supporting surface region in an image captured by a camera is disclosed. An object in the image is detected. One or more regions of the image in which a lower part of the detected object exists are determined. A degree of confidence for each of the regions is determined. The degree of confidence indicates likelihood of a corresponding region being a supporting surface region. One or more of the regions are selected based on each corresponding degree of confidence. Similarity of other regions in the image to at least one of the selected regions is determined. The supporting surface region is detected based on the determined similarity.