Background

Vehicle imaging stations are known which enable images of a vehicle to be captured for purposes such as damage assessment.

Vehicle imaging stations generally include a booth, lighting for illuminating a vehicle in the booth and cameras for capturing images of the vehicle.

Vehicle imaging stations can be located in places such as airports, city centres or businesses, where space is at a premium. As such, the size and/or footprint of a vehicle imaging station can restrict where it can be implemented.

Moreover, it can be challenging to balance the ability to capture precise images and the time required to image the vehicle.

The present inventor has devised an improved vehicle imaging station which can have one or more of the following advantages relative to known vehicle imaging stations:

• smaller size and/or footprint

• increased likelihood of precise imaging

• reduced time to image a vehicle

Summary

Concept 1

In accordance with a first aspect of the concept 1, there is provided a vehicle imaging station comprising: a booth having an entrance for a vehicle to enter the booth and an exit for the vehicle to exit the booth, the entrance being distinct from the exit, wherein the central axis of the entrance is non-coaxial with respect to the central axis of the exit such that the entrance faces a first wall portion of the booth and the exit faces a second wall portion of the booth distinct from the first wall portion; a first camera arranged at the first wall portion facing the entrance; and a second camera arranged at the second wall portion facing the exit. Thus, the imaging station according to the first aspect includes a booth with an exit which is not also the entrance, such that a vehicle can be driven through the booth in a single pass in order to be imaged. This can result in a fast processing time in comparison to requiring the vehicle to turn within the booth, or be rotated, to exit via the entrance. While a booth with dedicated entrance and exit can enable a fast processing time, the present inventor has found that a problem with such an arrangement is that it can be difficult to take precise images of the front and back of the vehicle, as the entrance and exit can each occupy a space where a camera should be situated to capture precise images of the front and back of the vehicle. By providing a non-aligned entrance and exit, the central axes of the entrance and exit can each face a respective surface of the booth where a camera can be situated. While such a setup forces the driver of a vehicle to follow a non-linear vehicle pathway between the entrance and exit, the present inventor has found that, in practice, this can have a minimal impact on (i) the size and footprint of the booth and (ii) the imaging time, while enabling precise imaging of the front and rear external surfaces of the vehicle with a simple, fixed camera arrangement.

The entrance and exit can be located at the same height. Thus, the central axis of the entrance and the central axis of the exit can be in the same horizontal plane when the imaging station is disposed in use on a flat surface such as level ground.

The central axis of the entrance can be parallel and offset with respect to the central axis of the exit.

The offset between the central axis of the entrance and the central axis of the exit can be at least half the width of the entrance and/or exit.

The booth can comprise a pair of parallel sidewalls and a pair of parallel end walls, the side walls defining a central booth axis between them, wherein the entrance is formed through a first one of the end walls on a first side of the booth axis and the exit is formed through the a second one of the end walls on a second side of the booth axis.

The central axis of the entrance can be non-parallel with respect to the central axis of the exit. The central axis of the entrance can for example be at an angle of more than 45 degrees with respect to the central axis of the exit. Thus, the booth can for example have an L shape, with the ends of the L defining the entrance and exit. The first camera can be mounted on a wall portion near the apex, pointing towards one end of the L and the second camera can be mounted on an adjacent wall on the opposite side of the apex, pointing towards the other end of the L.

The imaging axis of the first camera can be coaxial with the central axis of the entrance. The imaging axis of the second camera can be coaxial with the central axis of the exit. Coaxial can mean generally coaxial.

The vehicle imaging station can further comprise a first set of side cameras arranged to image a first side of the vehicle and a second set of side cameras arranged to image a second side of the vehicle, wherein the first set of side cameras are closer to the entrance than the exit and the second set of side cameras are closer to the exit than the entrance.

The vehicle imaging station can further comprise a plurality of sensors arranged to detect positions of a vehicle within the booth and a data processor coupled to the sensors and the cameras and arranged to trigger the cameras in response to inputs from the sensors.

One or more lights can be located within the booth to illuminate the vehicle during imaging.

Concept 2

In accordance with a first aspect of the second concept, there is provided a vehicle imaging station comprising: a booth having an entrance for a vehicle to enter the booth and an exit for the vehicle to exit the booth, the entrance being distinct from the exit, the entrance facing a first wall of the booth, wherein the central axis of the entrance is non-coaxial with respect to the central axis of the exit so as to define an S shaped vehicle pathway extending between the entrance and exit; and a first camera arranged at a portion of the first wall on an opposite side of the central axis of the exit with respect to the central axis of the entrance, the first camera being orientated towards a central portion of the S shaped vehicle pathway such that, in use, the first camera is arranged to capture a front view image of a vehicle moving along the S shaped vehicle pathway.

Thus, the imaging station according to the first aspect includes a booth with an exit which is not also the entrance, such that a vehicle can be driven through the booth in a single pass in order to be imaged. This can result in a fast processing time in comparison to requiring the vehicle to turn within the booth, or be rotated, to exit via the entrance. While a booth with dedicated entrance and exit can enable a fast processing time, the present inventor has found that a problem with such an arrangement is that it can be difficult to take precise images of the front and back of the vehicle, as the entrance and exit can each occupy a space where a camera should be situated to capture precise images of the front and back of the vehicle. By providing a non-aligned entrance and exit, the driver of a vehicle is encouraged to follow an S shaped vehicle pathway between the entrance and exit. The inventor has found that by providing a first camera that faces the central portion of the S shaped vehicle pathway, the first camera can capture precise images of the front of a vehicle with a background defined largely by the booth, rather than the entrance for example, which can result in more precise imaging.

The entrance and exit can be located at the same height. Thus, the central axis of the entrance and the central axis of the exit can be in the same horizontal plane when the imaging station is disposed in use on a flat surface such as level ground.

The central axis of the entrance can be parallel and offset with respect to the central axis of the exit.

The offset between the central axis of the entrance and the central axis of the exit can be at least half the width of the entrance and/or exit.

The booth can comprise a pair of parallel sidewalls and a pair of parallel end walls, the side walls defining a central booth axis between them, wherein the entrance is formed through a first one of the end walls on a first side of the booth axis and the exit is formed through the a second one of the end walls on a second side of the booth axis.

The vehicle imaging station can further comprise a first set of side cameras arranged to image a first side of the vehicle and optionally a second set of side cameras arranged to image a second side of the vehicle, wherein the first set of side cameras are closer to the entrance than the exit and the second set of side cameras are closer to the exit than the entrance.

The vehicle imaging station can further comprise a plurality of sensors arranged to detect positions of a vehicle within the booth and a data processor coupled to the sensors and the cameras and arranged to trigger the cameras in response to inputs from the sensors. One or more lights can be located within the booth to illuminate the vehicle during imaging.

In accordance with a second aspect of the second concept, there is provided a vehicle imaging station comprising: a booth having an entrance for a vehicle to enter the booth and an exit for the vehicle to exit the booth, the entrance being distinct from the exit, wherein the central axis of the entrance is non-coaxial with respect to the central axis of the exit so as to define an S shaped vehicle pathway extending between the entrance and exit; and a first camera arranged on an opposite side of the central axis of the exit with respect to the central axis of the entrance, the first camera being orientated to face a central portion of the S shaped vehicle pathway such that, in use, the first camera is arranged to capture a front-side-on view image of a vehicle moving along the S shaped vehicle pathway, wherein the first camera is mounted at a height of between 0.1m and 5m. The height of the camera can for example be relative to the ground plane of the booth, or the ground level at the central portion of the vehicle pathway.

The inventor has found that by providing a first camera that is centred on the central, transition portion of the S shaped vehicle pathway at a height of between 0.1m and 5m, the first camera can capture precise front-side-on images of a vehicle with the wheel turned at an angle, as the vehicle moves along the S shaped pathway.

The first camera can be mounted at a height of between 0.2m and 2.5m, more preferably at a height of between 0.3 and 2m and more preferably at a height between 0.5 and 1.5m.

Optional features of the first aspect can be applied to the second aspect in an analogous manner. For example, the first camera of the second aspect can form one of the side cameras of the first aspect.

Brief Description of the Drawings

Concept 1

By way of example only, certain embodiments of the invention will now be described by reference to the accompanying drawings, in which: Figure 1 is a diagram showing a plan view cross section of a vehicle imaging station according to an embodiment of the invention; and

Figure 2 is a diagram illustrating a vehicle following a non-linear pathway through the imaging station of Figure 1.

Concept 2

By way of example only, certain embodiments of the invention will now be described by reference to the accompanying drawings, in which:

Figure 3 is a diagram showing a plan view cross section of a vehicle imaging station according to an embodiment of the invention;

Figure 4 is a diagram illustrating a vehicle following a non-linear pathway through the imaging station of Figure 3; and

Figure 5 is a diagram illustrating the S shaped vehicle pathway of a vehicle moving through the imaging station of Figure 3.

Detailed Description

Concept 1

Figure 1 shows a vehicle imaging station according to an embodiment of the invention generally at 10.

The vehicle imaging station includes a booth 12 for defining a controllable lighting environment for vehicle imaging. In this embodiment the booth 12 has first and second parallel sidewalls 12a, 12b and first and second parallel end walls 12c, 12d so as to define a rectangle of length L and width Wl. The length L can for example be 10m and the width Wl 8m. The booth also has a roof (not shown) joining the sidewalls 12a, 12b and end walls 12c, 12d to define the enclosure.

The booth 12 has an entrance EN and an exit EX. The exit EX is distinct i.e. not the same as the entrance EN. The entrance EN in this embodiment is defined by an opening in the first end wall 12d. Likewise, the exit EX is defined by an opening in the second end wall 12c. Each opening can be any shape suitable for enabling passage of a vehicle; for example, each opening can be rectangular with a width W2 of 3m.

Doors (not shown) can be provided on the entrance EN and exit EX, which open to permit access and can be closed during imaging.

The entrance EN and exit EX can each be provided with a canopy or tunnel (not shown) to reduce the amount of sunlight that enters the booth.

The central axis A1 of the entrance EN is non-coaxial with respect to the central axis A2 of the exit EX. As such, the entrance EN and exit EX are not aligned and facing one another.

The central axis A1 of the entrance EN faces a first portion PI of the first end wall 12c. A first camera Cl is mounted at or on the first portion PI and faces the central axis A1 of the entrance EN to capture precise images of the front of a vehicle (not shown) shortly after the vehicle enters the booth 12. The imaging axis IA1 of the first camera Cl can be coaxial with the central axis A1 of the entrance EN.

Likewise, the central axis A2 of the exit EX faces a second portion P2 of the second booth end wall 12d where a second camera C2 is mounted to capture precise images of the rear of a vehicle as the vehicle approaches the exit EX. The imaging axis IA2 of the second camera C2 can be coaxial with the central axis A2 of the exit EX.

The offset distance O between the central axis A1 of the entrance EN and the central axis A2 of the exit EX can be at least half the width W of the entrance EN and/or exit EX and optionally between half and 1.5 times the width of the entrance EN and/or exit EX.

The sidewalls 12a, 12b of the booth 12 define a central booth axis BA between them. The central axis A1 of the entrance EN is on a first side of the booth axis BA and the central axis A2 of the exit EX on a second side of the booth axis.

In addition to the front camera Cl and rear camera C2, the imaging station includes a first pair of side cameras C3a, C3b and a second pair of side cameras C4a, C4b.

The first set of side cameras C3a, C3b are located closer to the entrance EN than the exit EN and arranged with their imaging axes intersecting for form an internal angle a, which can be 45 degrees for example. The first set of side cameras C3a, C3b are arranged to take side and angled images of a first side of the vehicle as it passes through the booth 12.

The second set of side cameras C4a, C4b are located closer to the exit EX than the entrance EN and provided in the same angled arrangement as the first pair. The second set of side cameras C4a, C4b are arranged to take side and angled images of a second side of the vehicle as it passes through the booth 12.

Further cameras can be provided to capture images such as the roof, wheels etc. either within the booth 12 or in a separate booth joined to the entrance EN or exit EX.

A plurality of sensors are provided within the booth to detect when a vehicle has reached imaging locations. The sensors in this embodiment are thru-beam type photoelectric sensors, each having an emitter arranged to direct a beam of light onto a detector at height that enables the beam to be broken by a vehicle moving between the entrance EN and exit EX.

A first sensor SI is located 0.5m from the entrance EN and arranged to trigger the front camera Cl and first set of side cameras C3a, C3b following the beam being broken.

A second sensor S2 is located 2.7m from the exit EX and arranged to trigger the second set of side cameras C4a, C4b following the beam being broken.

A third sensor S3 is located 0.5m from the exit EX and arranged to trigger the rear camera C2 following the beam being broken.

The imaging station 10 includes a data processor D such as a general purpose computer, application specific integrated circuit or the like. The data processor D can comprise a single device or can be a distributed system.

The data processor D is communicatively coupled to the cameras Cl to C4b and sensors SI to S3 to provide trigger signals to the cameras Cl to C4b based on inputs from the sensors SI to S3 and receive captured images from the cameras Cl to C4b.

Referring additionally to Figure 2, in use, a vehicle 14 enters the booth 12 via the entrance EN. When the vehicle 14 breaks the light beam of sensor SI the front camera Cl is triggered to capture one or more images of the front of the vehicle. Due to the position of the first camera Cl, it is possible to obtain precise images of the front of the vehicle 14.

After a time period has elapsed, the first of side cameras C3a, C3b take one or more pictures of the left hand side of the vehicle 14.

In order to align the vehicle with the exit EX the driver steers to the right hand side and then straightens up, causing the vehicle 14 to move in a gentle S shape. During the initial change of direction, the front camera Cl can capture an angled front view image of the vehicle with the left hand front wheel partially visible.

When the vehicle 14 breaks the light beam of sensor S2 the second set of side cameras C4a, C4b take one or more pictures of the right hand side of the vehicle 14.

When the vehicle 14 breaks the light beam of sensor S3 the rear camera C2 is triggered to capture one or more images of the rear of the vehicle 14. Due to the position of the second camera C2, it is possible to obtain precise images of the rear of the vehicle 14.

The vehicle 14 then exits the booth via the exit EX.

Thus, a vehicle imaging station according to embodiments of the invention enables a set of images of a vehicle to be captured including precise front and rear images in a fast and simple manner by a driver simply driving the vehicle through the booth.

In other embodiments the imaging station can be provided with any suitable arrangement of sensors. The imaging station can for example comprise one or more of: a sound transducer such as a microphone arranged to detect engine noise; a proximity sensor arranged to detect a vehicle approaching and/or arriving at a specific location; and/or a vehicle speed sensor that the data processor can use to synchronise cameras for stitching images together to form a continuous image of some or all of the vehicle or for adjusting camera settings such as shutter speed. In any embodiment the cameras can comprise area scan cameras such as one or more Hikvision (TM) MV-CA050-10GC area scan cameras, line scan cameras, or digital single-lens reflex (DSLR) cameras.

In any embodiment the cameras can be fixed to the booth and thus the camera arrangement can take the shape of the inside of the booth. Alternatively, the cameras can be mounted on dedicated mounting structures.

The booth can be provided with one or more visual or audible feedback devices such as monitor screens and/or speakers (not shown) coupled to the data processor to provide instructions and/or feedback to the driver.

Although the imagining station of the illustrated embodiment has an entrance and an exit at the same height with parallel, offset axes, in other embodiments the axes of the entrance and exit can be non-coaxial due to the entrance and exit being at different heights, or by being non-parallel so as to define an L shape or the like.

Embodiments of the invention extend to any suitable configuration with a booth having an entrance for a vehicle to enter the booth and an exit for the vehicle to exit the booth, the entrance being distinct from the exit, wherein the central axis of the entrance is non-coaxial with respect to the central axis of the exit such that the entrance faces a first wall portion of the booth and the exit faces a second wall portion of the booth distinct from the first wall portion; a first camera arranged at the first wall portion facing the entrance; and a second camera arranged at the second wall portion facing the exit.

Although the invention has been described above with reference to one or more preferred embodiments, it will be appreciated that various changes or modifications can be made without departing from the scope of the invention as defined in the appended claims. The word "comprising" can mean "including" or "consisting of" and therefore does not exclude the presence of elements or steps other than those listed in any claim or the specification as a whole. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Concept 2 Figure 3 shows a vehicle imaging station according to an embodiment of the invention generally at 110.

The vehicle imaging station includes a booth 112 for defining a controllable lighting environment for vehicle imaging. In this embodiment the booth 112 has first and second parallel sidewalls 112a, 112b and first and second parallel end walls 112c, 112d so as to define a rectangle of length Li and width Wli. The length Li can for example be 10m and the width Wli 8m. The booth also has a roof (not shown) joining the sidewalls 112a, 112b and end walls 112c, 112d to define the enclosure.

The booth 112 has an entrance ENi and an exit EXi. The exit EXi is distinct i.e. not the same as the entrance ENi. The entrance ENi in this embodiment is defined by an opening in the first end wall 112d. Likewise, the exit EXi is defined by an opening in the second end wall 112c. Each opening can be any shape suitable for enabling passage of a vehicle; for example, each opening can be rectangular with a width W2i of 3m.

Doors (not shown) can be provided on the entrance 1EN and exit EXi, which open to permit access and can be closed during imaging.

The entrance ENi and exit EXi can each be provided with a canopy or tunnel (not shown) to reduce the amount of sunlight that enters the booth.

The central axis Al _l of the entrance ENi is non-coaxial with respect to the central axis A2i of the exit EXi. As such, the entrance ENi and exit EXi are not aligned and facing one another, meaning that a vehicle 114 driving through the booth 112 is caused to follow a non-linear, S shaped pathway VPi. This is illustrated in Figures 4 and 5, reference to which should now additionally be made.

A first camera Cli is mounted at or on a portion Pli of the first wall 112c, on an opposite side of the central axis A2i of the exit EXi with respect to the central axis Al _l of the entrance ENi. The first camera Cli is orientated to face a central portion of the S shaped vehicle pathway VPi to capture precise images of the front of the vehicle 14i as it moves along the central portion of the vehicle pathway VPi. The central portion can be a section between the first and second transitions of the "S", along which section the vehicle 114 is facing the portion Pli of the first wall 112c. Likewise, second camera C2i is mounted at or on a portion P2i of the second wall 126, on an opposite side of the central axis Al _l of the entrance ENi with respect to the central axis A2i of the exit EXi. The second camera C2i is orientated to face the central portion of the S shaped vehicle pathway VPi to capture precise images of the rear of the vehicle 114 as it moves along the central portion of the vehicle pathway VP.

The offset distance Oi between the central axis Al _l of the entrance ENi and the central axis A2i of the exit EXi can be at least half the width Wi of the entrance ENi and/or exit EXi and optionally between half and 1.5 times the width of the entrance ENi and/or exit EXi.

The sidewalls 112a, 112b of the booth 112 define a central booth axis BAi between them. The central axis Al _l of the entrance ENi is on a first side of the booth axis BAi and the central axis A2i of the exit EXi on a second side of the booth axis.

In addition to the front camera Cli and rear camera C2i, the imaging station can includes a first pair of side cameras C3ai, C3bi and optionally a second pair of side cameras C4ai, C4bi.

In the illustrated embodiment the first set of side cameras C3ai, C3bi are located closer to the entrance ENi than the exit ENi and arranged with their imaging axes intersecting for form an internal angle a 1, which can be 45 degrees for example. The first set of side cameras C3ai, C3bi are arranged to take side and angled images of a first side of the vehicle as it passes through the booth 112.

The second set of side cameras C4ai, C4bi are located closer to the exit EXi than the entrance ENi and provided in the same angled arrangement as the first pair. The second set of side cameras C4ai, C4bi are arranged to take side and angled images of a second side of the vehicle as it passes through the booth 112.

Further cameras can be provided to capture images such as the roof, wheels etc. either within the booth 112 or in a separate booth joined to the entrance ENi or exit EXi.

A plurality of sensors are provided within the booth to detect when a vehicle has reached imaging locations. The sensors in this embodiment are thru-beam type photoelectric sensors, each having an emitter arranged to direct a beam of light onto a detector at height that enables the beam to be broken by a vehicle moving between the entrance ENi and exit EXi.

A first sensor Sli is located 0.5m from the entrance ENi and arranged to trigger the front camera Cli and first set of side cameras C3ai, C3bi following the beam being broken.

A second sensor S2i is located 2.7m from the exit EXi and arranged to trigger the second set of side cameras C4ai, C4bi following the beam being broken.

A third sensor S3i is located 0.5m from the exit EXi and arranged to trigger the rear camera C2i following the beam being broken.

Camera firing can be timed, based on an average time between a vehicle triggering a sensor Sli to S3i and reaching an appropriate location on the S shaped vehicle pathway VPi for correct images to be taken. Alternatively, sensors Sli to S3i can be moved to a position where the vehicle 114 triggers the sensor Sli when it has reached the appropriate location on the S shaped vehicle pathway VPi

The imaging station 110 includes a data processor Di such as a general purpose computer, application specific integrated circuit or the like. The data processor Di can comprise a single device or can be a distributed system.

The data processor Di is communicatively coupled to the cameras Cli to C4bi and sensors Sli to S3i to provide trigger signals to the cameras Cli to C4bi based on inputs from the sensors Sli to S3i and receive captured images from the cameras Cli to C4bi.

In use, a vehicle 114 enters the booth 112 via the entrance ENi.

When the vehicle 114 breaks the light beam of sensor Sli and a time period has elapsed, the first of side cameras C3ai, C3bi take one or more pictures of the left hand side of the vehicle 114.

In order to align the vehicle with the exit EXi the driver steers to the right hand side and then straightens up, causing the vehicle 114 to move in a gentle S shape. After a time period has elapsed, the front camera Cli is triggered to capture one or more images of the front of the vehicle 114 as it transitions along the pathway VPi to facing towards the camera Cli. Due to the position of the first camera Cli, it is possible to obtain precise images of the front of the vehicle 114 while having the sidewall 112b in the background.

Likewise, the rear camera C2i is triggered to capture one or more images of the rear of the vehicle 114 while having the sidewall 12ai in the background.

When the vehicle 114 breaks the light beam of sensor S2i the second set of side cameras C4ai, C4bi take one or more pictures of the right hand side of the vehicle 114. Alternatively, cameras C4ai, C4bi can be triggered after a time period has elapsed since Sli was triggered.

Optional sensor S3i can indicate that the vehicle is leaving the booth 112.

The vehicle 114 then exits the booth 112 via the exit EX.

Thus, a vehicle imaging station according to embodiments of the invention enables a set of images of a vehicle to be captured including precise front and rear images in which the booth wall(s) form a majority of the background in a fast and simple manner by a driver simply driving the vehicle through the booth.

In other embodiments the imaging station can be provided with any suitable arrangement of sensors. The imaging station can for example comprise one or more of: a sound transducer such as a microphone arranged to detect engine noise; a proximity sensor arranged to detect a vehicle approaching and/or arriving at a specific location; and/or a vehicle speed sensor that the data processor can use to synchronise cameras for stitching images together to form a continuous image of some or all of the vehicle or for adjusting camera settings such as shutter speed.

In any embodiment the cameras can comprise area scan cameras such as one or more Hikvision (TM) MV-CA050-10GC area scan cameras, line scan cameras, or digital single-lens reflex (DSLR) cameras.

In any embodiment the cameras can be fixed to the booth and thus the camera arrangement can take the shape of the inside of the booth. Alternatively, the cameras can be mounted on dedicated mounting structures. The booth can be provided with one or more visual or audible feedback devices such as monitor screens and/or speakers (not shown) coupled to the data processor to provide instructions and/or feedback to the driver.

Although the imagining station of the illustrated embodiment has an entrance and an exit at the same height with parallel, offset axes, in other embodiments the axes of the entrance and exit can be non-coaxial due to the entrance and exit being at different heights, or by being non-parallel.

Embodiments of the invention extend to any suitable configuration with a booth having an entrance for a vehicle to enter the booth and an exit for the vehicle to exit the booth, the entrance being distinct from the exit, the entrance facing a first wall of the booth, wherein the central axis of the entrance is non-coaxial with respect to the central axis of the exit so as to define an S shaped vehicle pathway extending between the entrance and exit; and a first camera arranged at a portion of the first wall on an opposite side of the central axis of the exit with respect to the central axis of the entrance, the first camera being orientated to face central portion of the S shaped vehicle pathway such that, in use, the first camera is arranged to capture a front view image of a vehicle moving along the S shaped vehicle pathway.

In other embodiments, the imagining station can comprise camera C4b alone or with one of more of the other cameras. In such embodiments, camera C4bi can be mounted as shown or at the portion Pli of the first wall. Thus, the camera C4bi can be arranged on an opposite side of the central axis A2i of the exit EXi with respect to the central axis Al _l of the entrance ENi, the camera C4bi being orientated to face the central portion of the S shaped vehicle pathway VPi such that, in use, the camera C4bi is arranged to capture a front-side-on view image of the vehicle 114 moving along vehicle pathway VPi. In such embodiments, the camera C4bi is mounted at a height of between 0.1m and 5m from the ground.

Although the invention has been described above with reference to one or more preferred embodiments, it will be appreciated that various changes or modifications can be made without departing from the scope of the invention as defined in the appended claims. The word "comprising" can mean "including" or "consisting of" and therefore does not exclude the presence of elements or steps other than those listed in any claim or the specification as a whole. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.