Method, system and apparatus for determining orientation data

Abstract

A method (400, 450) comprising applying a control signal to an optical system (111) to drive the optical system (111) through a scanning pattern comprising a plurality of imaging orientations; generating image each imaging orientation of the optical system (111), optical system orientation data indicating a measured orientation of the optical system (111), based on the identified first intensity feature and second intensity feature of the respective image data. data for each of the imaging orientations of the optical system (111) based on detected reflected electromagnetic radiation, the image data indicating an intensity of the detected reflected electromagnetic radiation over an imaging time window associated with that imaging orientation of the optical system (111); identifying, for the image data of each imaging orientation of the optical system (111): a first intensity feature of the image data; and a second intensity feature of the image data; and determining, for ABSTRACTABSTRACTABSTRACT

Images