Patent ID: 12200369

DETAILED DESCRIPTION

Embodiments of the present invention relate to the identification and mitigation of light emitter flicker for an imaging system. An imaging system100which may be configured to identify or mitigate light emitter flicker in accordance with various embodiments of the present invention is described herein with reference to the accompanyingFIG.1.

The imaging system100may be configured to generate image data140indicative of an environment. Embodiments of the present invention relate to the identification and mitigation of light emitter flicker in the image data140generated by the imaging system100. According to some embodiments, the imaging system may be associated with a vehicle as will be explained, and the environment may comprise surroundings of the vehicle. For example, the environment may comprise surroundings within a line of sight of the vehicle. Embodiments of the present invention will be described with reference to the imaging system100being associated with a vehicle and the environment comprising the vehicle surroundings, although it will be appreciated that the imaging system100is not limited to vehicular implementation. For example, in other embodiments the imaging system100may be implemented in a mobile device or other computing apparatus, and the environment may comprise the surroundings of the imaging system100.

The imaging system100comprises imaging means110configured to generate the image data140. The imaging means110may comprise one or more imaging devices. For example, the imaging means110may comprise at least one camera comprising one or more lenses and an image capture mechanism. The at least one camera may be associated with the vehicle, for example the at least one camera may be integrated with the vehicle and configured to generate image data140indicative of at least a portion of the vehicle surroundings. The imaging means110may be communicably coupled to one or more communication networks180and may be arranged to communicate the image data140via the one or more communication networks180. In some embodiments the communication networks180may comprise a wireless network such as Wi-Fi, Bluetooth or Infrared communication and/or may comprise one or more wired networks. In some embodiments the one or more communication networks180may comprise a vehicle communication network180, for example a vehicle bus or network, which may be implemented as FlexRay, CAN or TTP, for example.

The imaging system100comprises a control means120in the form of a controller120according to an embodiment of the invention. The controller120comprises processing means121, communication means122and data storage means123. The communication means122is communicably coupled, in use, to the one or more communication networks180, and thus the controller120is communicable with, in use, the imaging means110. In some embodiments, communication means122may comprise an input means and an output means. For example the communication means122may comprise one or more electrical inputs for receiving input data from the one or more communication networks. The communication means122may comprise one or more electrical outputs for communicating output data from the controller120to other components of the imaging system100. The communication means122may be arranged to receive the image data140from the imaging means110.

The data storage means123is formed by one or more data storage devices such as memory devices. The data storage means123may be configured to store the image data140for use by the processing means121. The processing means121may be provided in the form of one of more processing devices for operatively executing computer-executable instructions, wherein the instructions may be stored in a computer-readable medium, such as the data storage means123. The computer-executable instructions may comprise a light emitter flicker identification module (LIM)124and an image correction module (ICM)125. The processing means121may be arranged to process the image data140to determine display data150, as will be explained. In some embodiments the LIM123may be arranged to identify regions of light emitter flicker in the image data140. In some embodiments, the ICM125may be arranged to correct, or reduce, light emitter flicker in the image data140and to determine the display data150. The communication means122may be arranged to communicate the display data150via the one or more communication networks180.

The imaging system100comprises a display device130communicable, in use, with the one or more communication networks180. The display device130is configured to receive the display data150and to display a representation of the display data150to a user of the imaging system100. In some embodiments the display device130may for example comprise a display screen such as one or more of an LED, PDP or LCD display. The display device130may be arranged in the vehicle, for example to display a representation of the display data150to a driver or passenger of the vehicle.

In some embodiments the imaging system100may comprise an environment determination means (EDM)170. The environment determination means170may be configured to determine environment data160indicative of the environment, for example indicative of the surroundings of the vehicle. The EDM170may be configured to communicate the environment data160to the controller120via the one or more communication networks180. The EDM170may comprise one or more environment determination devices171operable to identify or map the environment. The one or more environment determination devices171may be configured to generate data indicative of the location of one or more objects in the environment. The environment determination devices171may comprise one or more sensors associated with the vehicle, such as one or more of a lidar sensor associated with the vehicle, a radar sensor associated with the vehicle, a sensor associated with a Park Distance Control system of the vehicle, and one or more cameras associated with the vehicle. Each of the environment determination devices171may be associated with an existing vehicle system, for example associated with a parking control system or adaptive cruise control system as two illustrative examples.

The EDM170may comprise map data means172. The map data means172provides digital map data. As will be appreciated, digital map data is data indicative of navigable paths or routes in the environment, where the navigable paths may be in the form of roads, although other paths such as vehicle-accessible tracks or areas such as car parks and the like may also be included in the map data. The digital map data may, in some embodiments, comprise horizon data or electronic-horizon data (e-horizon data) which includes data indicative of one or more objects and the location of the one or more objects in the environment. For example the map data be indicative of a type and a location of one or more strobed light emitters in the environment. The one or more strobed light emitters may comprise signage or other fixtures associated with the navigable paths, for example street signs, traffic lights or other road lighting systems. The map data means172may be formed by one or more data storage devices, such as memory devices, having the digital map data stored therein. However in other embodiments the digital map means172may provide access to remotely stored digital map data accessible on a server or cloud storage via a communications link.

The EDM170may be configured to determine the environment data160in dependence on a combination of data determined by the one or more environment determination devices171and the map data means172. The environment data160may comprise information indicative of a plurality of objects identified by the one or more environment determination devices171and map data means172, for example a label indicating each object type, and a location of each of the identified objects in the environment.

According to some embodiments of the present invention there is provided a method for identifying light emitter flicker, described herein with reference to the accompanyingFIG.2. In particular, there is provided a method for identifying one or more relevant areas of image data likely to be subject to light emitter flicker. Flicker mitigation algorithms may be directed to the relevant areas of image data. Advantageously, directing the flicker mitigation algorithms to the relevant areas reduces power consumption when processing image data for display, as will be explained.

FIG.2illustrates a method200for identifying light emitter flicker according to an embodiment of the present invention. The method200may be performed on components of the imaging system100, for example the method200may be implemented by the LIM123and other components of the controller120.

The method200comprises a step210of receiving the environment data160at the controller120. The environment data160may be received from the EDM170. The environment data160is indicative of a plurality of objects in the environment, as has been described with reference toFIG.1.

The method200comprises a step220of identifying one or more illumination objects in the environment data160. Step220may be performed by the LIM123. Step220may comprise identifying a subset of the objects in the environment data160as strobed light emitters. In some embodiments, an indication of whether each of the objects is a strobed light emitter may be associated with such as embedded in the environment data160. In some embodiments, an indication of a set of object types likely to be strobed light emitters may accessible by the LIM123, for example stored on the data storage means123or accessible via the one or more communication networks180. An example set of object types is illustrated below.

Strobed light emittersStreet signTraffic lightCar headlightStreet lampGantry sign

It will be appreciated that the above list is merely illustrative, and the set of strobed light emitters may be predetermined and comprise other object types. The step220may comprise identifying an object type in the environment data160as an illumination object if the object type is indicated in the set of strobed light emitters. For example,FIG.9illustrates example a representation of environment data160indicative of the locations of a plurality of objects910,920,930,940in the environment. Object930may be labelled or associated with the object type ‘Traffic light’ in the environment data160. As the object type ‘Traffic light’ is indicated in the set of strobed light emitters, step220of the method200may comprise identifying the object930as an illumination object.

The method200comprises a step230of receiving image data, for example the image data140. In some embodiments, the image data140is generated by the imaging means110and received by the controller120via the one or more communication networks180as has been described with reference toFIG.1. The image data140may be indicative of at least a portion of the environment associated with the environment data160.

The method200comprises a step240of determining image regions of interest. Step240may comprise determining one or more strobed lighting regions of the image data140corresponding to the locations of the one or more illumination objects.

The one or more strobed lighting regions of the image data may be determined in dependence on correspondence data indicative of a correspondence between the image data140and the environment data160. The correspondence may be defined as a mapping or relationship between the image data140and the environment. The image data140is indicative of a portion of the environment, wherein the portion may be defined by a field of view of the imaging means110. The image data140therefore corresponds to a portion950of the environment data160, as illustrated inFIG.9. Thus, the image data140may indicate a subset930,940of the plurality of objects which are within the field of view of the imaging means110. The correspondence data may be predetermined and stored in the data storage means123. For example, the correspondence data may be indicative of the field of view of the imaging means110and stored as a consequence of a configuration of the imaging means110. Alternatively or additionally, the correspondence data may be determined by the processing means121by for example comparing features of the image data140and the environment data160. In step240, the correspondence data may be utilised to identify one or more strobed lighting regions of the image data140. The one or more strobed lighting regions of the image data140may comprise regions corresponding to any of the illumination objects identified in the environment data160within the field of view of the imaging means110, for example object930.

The method200comprises a step250of outputting a signal indicative of the one or more strobed lighting regions. The signal may be communicated via the one or more communication networks180. In some embodiments, the signal may be communicated to the ICM125. The ICM125may then be configured to receive the signal and the image data.

The ICM125may in some embodiments be configured to apply an image correction operation for mitigating image flicker to the one or more indicated image regions of interest and to determine the display data150. The image correction operation performed by the ICM125may then be targeted to the regions of interest. Selectively applying the image operation only to the regions of interest rather than to the entire image data140decreases the total amount of data to be processed, focussing the image correction operation to regions most likely to be experiencing image flicker. Thus, by reducing superfluous processing, efficiency of the image correction operation applied is increased.

Embodiments of the present invention relate to a system and method for mitigating image flicker from strobed lighting systems, as will be explained with reference toFIGS.3and4. The method200may be performed in conjunction with the method illustrated inFIG.4, however the invention is not limited in this way. The method200may be performed independently to determine regions of interest, for use in any appropriate flicker mitigation algorithm.

According to some embodiments of the present invention, elements of the imaging system100are configured to mitigate light emitter flicker in image data, for example in the image data140.FIG.3illustrates an example imaging system300configured to mitigate image flicker from strobed lighting systems according to some embodiments of the present invention.

The imaging system300illustrated inFIG.3is an example of the imaging system100and comprises analogous components to the imaging system100. The imaging system300may comprise all features of the imaging system100according to some embodiments of the invention, and may be configured to perform the method200. As has been described with reference toFIG.1, the imaging system300is configured to generate image data140, process the image data140and generate display data150. Analogous reference numerals have been used inFIG.3to illustrate analogous components to the imaging system100. Detailed description of analogous components will be omitted. In the imaging system300, the imaging means110comprises at least a first imaging device111and a second imaging device112. The first imaging device111is configured to generate first image data141and the second imaging device112is configured to generate the second image data142.

The first imaging device111and the second imaging device112may each comprise one or more cameras associated with the vehicle configured to generate image data141,142indicative of the environment proximal to the vehicle. The image data may be indicative of at least a portion of the environment within a line of sight of the vehicle. The first imaging device111may comprise a camera configured to generate footage for display to a user of the vehicle. In some embodiments, the imaging system300may comprise a rear view system of the vehicle. The first imaging device111may comprise a rear view camera of the vehicle, and the first image data generated may be indicative of an environment substantially rear with respect to the vehicle. The display device130may comprise a mirror replacement display, for example a rear view mirror replacement display or a door mirror replacement display. The imaging system300may therefore comprise a rear view mirror or door mirror replacement system. In some embodiments, the second imaging device112may be associated with an existing vehicle system. That is, the second imaging device112may be utilised in one or more additional vehicle systems in addition to the imaging system300. The second imaging device may be utilised for one or more additional purposes besides image correction. In this way, a specific extra dedicated camera does not need to be provided for the imaging system300, thus reducing the cost associated with the vehicle. For example, the second imaging device112may be associated with a driver assistance or machine vision system such as an autonomous parking system associated with the vehicle.

The controller120is configured to receive the first image data141and second image data142, as has been described with reference to the image data140ofFIG.1. The first imaging device111may be considered as a primary imaging device, and the first image data141may be substantially used to determine the display data150. The controller120is configured to determine the display data150by mitigating image flicker of strobed lighting regions of the first image data141. That is, the controller120is configured to correct or reduce light emitter flicker contained in the first image data141to determine the display data150. The controller120is configured to correct the light emitter flicker by utilising the second image data142, as will be explained.

As has been described with reference toFIG.1, the communication means122may be arranged to communicate the display data150via the one or more communication networks180. The display device130is configured to receive the display data150and to display an indication of the display data150to a user.

According to some embodiments of the present invention there is provided a method400,600for mitigating light emitter flicker from strobed lighting systems, described herein with reference to the accompanyingFIGS.4to7.

FIG.4illustrates a method400for mitigating light emitter flicker from strobed lighting systems according to an embodiment of the present invention. The method400may be performed on components of the imaging system300, in particular on the image correction module (ICM)125and other components of the controller120.

The method400comprises a step410of receiving first image data141indicative of an environment. The first image data141is generated by the first imaging device111and received by the controller120, for example via the communication means122as has been described with reference toFIG.1. The first image data141may be stored in the data storage means123for processing by the controller120.

The first imaging device111comprises a first pixel array configured to operate with at least a first exposure time to generate the first image data141. The first image data141may comprise data indicative of a sequence of image frames each exposed for the first exposure time. The first exposure time may be selected appropriately considering the environment and lighting conditions. The first exposure time may be selected in dependence on optical considerations, such as a contrast or brightness desired for the first image data when displayed. In some embodiments, the first imaging device111may for example be a high dynamic range (HDR) imaging device and so operate at a plurality of first exposure times. Each of the plurality of first exposure times may be selected in dependence on optical considerations. The first imaging device111may be configured to operate at each of the plurality of first exposure times successively or simultaneously to generate each frame. For example, each pixel of the first pixel array may comprise two or more sub-pixels arranged to simultaneously operate at different exposure times, to enable spatial multiplexing of the pixel for each frame. Each pixel may be arranged to operate successively at two or more different exposure times for each frame, to enable temporal multiplexing of the pixel. At least some of the first exposure times may be selected to enhance the dynamic range of the first image data141.

The method400comprises a step420of receiving second image data142indicative of at least a portion of the environment. The second image data142is generated by the second imaging device112and received by the controller120, for example via the communication means122as has been described with reference toFIG.1. The second image data142may be stored in the data storage means123for processing by the controller120. The second imaging device112comprises a second pixel array configured to operate with at least a second exposure time to generate the second image data142. The second exposure time is configured to be different to the first exposure time, i.e. the first and second image data141,142are each generated with a different exposure time. In some embodiments, the second imaging device112may operate at a plurality of second exposure times, as has been described with relation to the first imaging device111.

The method400comprises a step430of identifying one or more strobed lighting regions of at least one of the first image data141and the second image data142. The step430may be performed at least in part by the image correction module (ICM)125.

In some embodiments, the ICM125may be configured to identify a contrast between pixel values of corresponding regions of the first image data141and the second image data142. Corresponding regions may be determined from correspondence data indicative of a predefined correspondence stored in the data storage means123.

FIG.10illustrates an example correspondence between the first image data141and the second image data142. The correspondence may be defined by the relative configuration of the first imaging device111and the second imaging device112. As illustrated inFIG.10A, the first imaging device111and the second imaging device112may be separated by a displacement or difference in orientation, and thus configured to capture different portions of the environment which may be overlapping. The correspondence defines a relationship between pixels of the first image data141and the second image data142, i.e. regions1010,1020of the first and second image data each indicative of the same portion of the environment. The corresponding regions1010,1020may each comprise an indication of the same object930. In some embodiments, the correspondence may not be predefined and so the ICM125may be configured to determine the correspondence. For example, the ICM125may compare the first image data141and the second image data142to determine the correspondence. The correspondence may be defined as a displacement or translation between pixels of the first image data141and the second image data142.

The ICM125may be configured to identify contrasting pixels. Contrasting pixels may be defined as pixel values of the first image data141that exhibit a contrast with the corresponding pixels of the second image data142. Contrast may be defined as a difference in value generated between the two corresponding pixels at some point in the image data140. For example, the difference in value may comprise a difference in RGB value between the two corresponding pixels. The contrast may indicate the presence of a strobed light emitter in the portion of the environment corresponding to the pixels. As the first image data141and the second image data142are generated with different exposure times as has been described, the presence of the contrast in one or more frames may indicate only one of the first and second imaging device has captured the strobed light emitter in an ‘on’ state.

FIG.5illustrates a contrast between two corresponding pixels, with reference to an example strobed light emitter which may be captured by the first and second imaging devices111,112.

FIG.5Aillustrates example strobe data510representative of the temporal sequence of a strobed light emitter having a strobe rate511. The strobe data510illustrates the strobed light emitter temporally fluctuating between an on state512and an off state513at time intervals indicated by the strobe rate511. The strobed light emitter may only emit light of a predefined frequency profile when in the on state512. If a camera captures a frame including the strobed light emitter, the light emitted will only be observed in the frame if the strobed light emitter is in the on state512during the exposure time of the frame captured by the camera.

FIG.5Billustrates a portion of example first image data520associated with a single pixel corresponding to the strobed light emitter. The portion520illustrates three example frames each generated with an exposure time521by the first imaging device. Two example frames522,524capture the strobed light emitter during an on state512and thus have a desired pixel value, and one example frame523does not capture the strobed light emitter during the on state512.

FIG.5Cillustrates a portion of example second image data530associated with a corresponding single pixel of the second image data. The portion530illustrates ten example frames each generated with an exposure time531by the second imaging device over the same time period as the portion of first image data520. Five example frames533capture the strobed light emitter during an on state512and thus have a desired pixel value, and five example frames532do not capture the strobed light emitter during an on state512.

At a single time point e.g. time T as illustrated inFIG.5, observing the first image data520at time T in isolation it may not be possible to determine whether the pixel contains a strobed light emitter, and if so whether the strobed light emitter has been captured in the on state512. The ICM125may be configured to identify a contrast between the portions of first image data520and second image data530associated with corresponding pixels by determining whether the frames captured at a same time point T exhibit a contrast in pixel value as illustrated byFIG.5.

The ICM125may then be configured to identify contrasting pixels as pixel values of the first image data141that exhibit a contrast with the corresponding pixels of the second image data142.

Step430may then comprise defining the one or more strobed lighting regions of the first image data141as one or more regions comprising contrasting pixels. The one or more strobed lighting regions of the second image data142may be defined as the corresponding regions to the strobed lighting regions of the first image data141.

The method400comprises a step440of determining the display data150. The step440comprises determining corrected image data for the identified strobed lighting regions of the first image data141, and adjusting the strobed lighting regions of the first image data141to indicate the corrected image data.

Step440may comprise determining a corrected pixel value for each pixel of the strobed lighting regions of the first image data141. In some embodiments, the corrected pixel value may be determined in dependence on the contrast identified in step420. For the example pixel illustrated byFIG.5, the corrected pixel value may be selected as one of the contrasting values corresponding to frames522and532. In some embodiments, the corrected pixel value may be selected as some combination of the contrasting values, for example an average of the contrasting values. Determining the corrected image data may comprise adjusting each pixel of the strobed lighting regions of the first image data141to maintain the corrected pixel value. Thus each strobed lighting region in the display data150is configured to maintain its respective corrected pixel value.

Advantageously, the corrected values may be determined for the first image data141without the need to adjust an exposure time of the first imaging device111to account for the strobe rate of the strobed light emitter. Thus, each exposure time of the first imaging device111may be utilised to provide high dynamic range, so dynamic range and image quality of the display data150may not be affected by performing the method400.

Method400thus provides a method for determining display data150comprising the first image data141with regions of image flicker corrected to maintain a desired value. The ICM125may be configured to output a signal indicative of the display data150, for example to the display device130. The display device130may be configured to receive the display data150and to display an indication of the display data150. Advantageously, the method400enables the display data150to be determined in real-time. Thus the display device130may display the display data150in real-time as the first image data141is received by the controller120.

According to some embodiments of the present invention, some elements of the method for mitigating light emitter flicker are performed solely on the second image data142. According to these embodiments, the second imaging device112may be utilised for mitigating the light emitted flicker in the strobed lighting regions. The corrected image data for the strobed lighting regions may be determined from the second image data142, and combined with the first image data141to determine the display data. In this way the first imaging device111may be configured in consideration of the dynamic range and image quality of the display data150, and the second imagine device112may be dedicated to determining corrected image data for the strobed lighting regions.

FIG.6illustrates an example of a method600for mitigating light emitter flicker from strobed lighting systems according to some embodiments of the present invention. The method600may be performed on components of the imaging system300, in particular on the image correction module (ICM)125and other components of the controller120.

The method600comprises a step610of receiving first image data141and a step620of receiving second image data142. These steps may be performed analogously to steps410and420and thus a repeat description will be omitted.

The method600comprises a step630of adjusting an exposure time of the second imaging device112. At least one of the exposure times of the second imaging device may be adjusted to at least a third exposure time. The ICM125may determine an adjusted exposure time for the second imaging device112, and transmit the adjusted exposure time via a communication channel180as illustrated inFIG.3. The adjusted exposure time may be selected from a predetermined list stored in a location accessible by the ICM125, for example the data storage means123. For example, the adjusted exposure time may be incrementally increased or decreased from the second exposure time. The ICM125is configured to continue to receive the second image data142after the exposure time has been adjusted.

Step630may be performed a plurality of times, adjusting at least one exposure time of the second imaging device112to a plurality of values. Thus, the second image data142may be generated at a plurality of exposure times and stored by the data storage means123as has been explained.

The method600comprises a step640of identifying strobed lighting regions in the second image data142. At least a part of the step640may be performed analogously to the step430. However, in step640the contrast may be identified between pixels of the second image data142generated at the second and third exposure times, rather than between the first image data141and the second image data142.FIG.7illustrates an example of a first portion710of the second image data generated at the second exposure time711, and a second portion720of the second image data generated at the third exposure time721. The first portion710does not exhibit image flicker as illustrated, however adjusting the exposure time illustrates the contrast and allows the strobed lighting region to be identified.

The step640may comprise determining a strobe rate of the strobed lighting region. The strobe rate may be determined in dependence on the second image data142. In some embodiments, the ICM125may be configured to identify a portion of the second image data142not exhibiting image flicker. The ICM125may then be configured to approximate or determine a strobe rate of the strobed lighting region in dependence thereon. For example, if the portion of the second image data142taken at the second exposure time711does not exhibit image flicker, the ICM125may infer that the strobe rate of the strobe lighting region is aligned or proportional to a refresh rate721of the portion710.

The step640may further comprise communicating an indication of the determined strobe rate to the second imaging device112. The second imaging device112may be configured to adjust at least one exposure time of the second image data142to align with the strobe rate. That is, at least one exposure time of the second image data142may be adjusted to ensure an on state512of the strobed light emitter is captured by the second imaging device112in each frame. This may in some embodiments be ensured by adjusting the exposure time of the second imaging device112to be equal to or larger than the determined strobe rate.

The method600comprises continuing to receive the second image data142after the exposure time of the second imaging device has been adjusted to align with the strobe rate. Consequently the second image data142received subsequently to performing step640will not exhibit image flicker within the strobed lighting regions.

The method600comprises a step650of determining the display data150. The step650comprises determining corrected image data for the corresponding identified strobed lighting regions of the first image data141, and adjusting the strobed lighting regions of the first image data141to indicate the corrected image data. Step650may comprise utilising the strobed lighting regions of the second image data142as the corrected image data. That is, step650may comprise determining the display data150by substituting at least some of the strobed lighting regions of the first image data with the corresponding strobed lighting regions of the second image data142.

Advantageously, the corrected values are determined for the first image data141without the need to adjust an exposure time of the first imaging device111to account for the strobe rate of the strobed light emitter. The adjustment to account for the strobe rate is performed to the imaging device112, and the second image data142received after the adjustment may be used to substitute in affected areas of the first image data141. Thus, dynamic range and image quality of the first image data141are preserved.

FIG.8illustrates a vehicle800according to an embodiment of the invention. The vehicle800comprises an imaging system100,300according to an embodiment of the invention as described above.

Any controller or controllers described herein may suitably comprise a control unit or computational device having one or more electronic processors. Thus the system may comprise a single control unit or electronic controller or alternatively different functions of the controller may be embodied in, or hosted in, different control units or controllers. As used herein the term “controller” or “control unit” will be understood to include both a single control unit or controller and a plurality of control units or controllers collectively operating to provide any stated control functionality. To configure a controller, a suitable set of instructions may be provided which, when executed, cause said control unit or computational device to implement the control techniques specified herein. The set of instructions may suitably be embedded in said one or more electronic processors. Alternatively, the set of instructions may be provided as software saved on one or more memory associated with said controller to be executed on said computational device. A first controller may be implemented in software run on one or more processors. One or more other controllers may be implemented in software run on one or more processors, optionally the same one or more processors as the first controller. Other suitable arrangements may also be used.

It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.

The following numbered clauses define various further aspects and features of the present technique:1. A system for identifying light emitter flicker, the system comprising one or more controllers, the one or more controllers comprising:input means configured to receive environment data indicative of objects in an environment and to receive, from one or more imaging devices, image data indicative of at least a portion of the environment;processing means configured to identify, in dependence on the environment data, one or more of the objects as illumination objects associated with a strobed lighting system, and to determine one or more strobed lighting regions of the image data corresponding to the one or more illumination objects; andoutput means configured to output a signal indicative of the one or more strobed lighting regions.2. The system of clause 1, comprising an image correction controller configured to:receive the image data and the signal indicative of the one or more strobed lighting regions;apply an image correction operation for mitigating image flicker to the one or more strobed lighting regions of the image data to determine corrected image data; andoutput a signal indicative of the corrected image data.3. The system of clause 1 or 2, comprising a display device configured to receive the corrected image data and to display an indication of the corrected image data.4. The system of any preceding clause, wherein the system is associated with a vehicle, and wherein the environment data is indicative of objects in the environment proximal to the vehicle.5. The system of clause 4, wherein the one or more imaging devices comprise one or more cameras associated with the vehicle.6. The system of clause 4 or 5, wherein the environment data is indicative of data received from one or more sensors associated with the vehicle.7. The system of clause 6, wherein the sensors comprise one or more of: a lidar sensor associated with the vehicle, a radar sensor associated with the vehicle, a sensor associated with a Park Distance Control system of the vehicle, and a camera associated with the vehicle.8. The system of any preceding clause, wherein the environment data comprises map data indicative of one or more navigable paths in the environment.9. The system of clause 8, wherein the map data is indicative of one or more strobed light emitters in the environment.10. The system of clause 9, wherein the one or more strobed light emitters comprise signage associated with at least some of the navigable paths.11. The system of any preceding clause, wherein:the input means comprises one or more electrical inputs for receiving the environment data and image data;the processing means comprises one or more electronic processors; andthe output means comprises one or more electrical outputs for outputting the signal.12. A vehicle comprising a system for identifying light emitter flicker according to any one of the preceding clauses.13. A computer-implemented method for identifying light emitter flicker, the method comprising:receiving environment data indicative of objects in an environment;identifying, in dependence on the environment data, one or more of the objects as illumination objects associated with a strobed lighting system;receiving image data indicative of at least a portion of the environment;determining one or more strobed lighting regions of the image data corresponding to the one or more illumination objects; andoutputting a signal indicative of the one or more strobed lighting regions.14. The method of clause 13, comprising:applying an image correction operation to the one or more strobed lighting regions to determine corrected image data; andoutputting a signal indicative of the corrected image data.15. The method of clause 13 or 14, comprising displaying an indication of the corrected image data.16. A non-transitory computer readable medium comprising computer readable instruction that, when executed by a processor, cause performance of the method of any of clauses 13 to 15.