Patent ID: 8094060

Claim:
A method of detecting a target in data from a scene comprising using a computer or processor to perform the steps of; i) taking a main data set comprising sensor output from a series of scans of the scene, each scan comprising a plurality of data points corresponding to different parts of the scene, ii) taking a first scan and calculating, for each data point in the first scan, an integrated data value at a predetatinined number of postulated target velocities, by integrating that data point in the first scan with data points from other scans which are shifted according to said postulated velocity, iii) identifying the greatest integrated data value and recalculating the remaining integrated data values excluding data points from the first scan and the shifted data points from other scans which contributed to the greatest integrated data value, iv) identifying for each data point in the first scan whether any of the integrated data values is above a threshold, and v) using an integrated data value above the threshold as indication of a target.