A miniature autonomous apparatus for performing scene interpretation, comprising: image acquisition means, image processing means, memory means and communication means, the processing means comprising means for determining an initial parametric representation of the scene; means for updating the parametric representation according to predefined criteria; means for analyzing the image, comprising means for determining, for each pixel of the image, whether it is a hot pixel, according to predefined criteria; means for defining at least one target from the hot pixels; means for measuring predefined parameters for at least one target; and means for determining, for at least one target whether said target is of interest, according to application-specific criteria, and wherein said communication means are adapted to output the results of said analysis.