Enhanced traffic detection by fusing multiple sensor data
First Claim
Patent Images
1. A method, comprising:
- receiving input data representing fields of view of a plurality of roadway approaches at or near a traffic intersection, the input data including data collected from a first sensor, and data collected from a second sensor, for each roadway approach in the plurality of roadway approaches;
analyzing the input data within a computing environment n one or more data processing modules executed in conjunction with at least one specifically-configured processor, the one or more data processing modules configured to fuse the data from the first sensor with the data from the second sensor for each roadway approach to detect one or more objects in each field of view in the plurality of roadway approaches, and analyze input data collected for each roadway approach in a traffic network comprising one or more traffic intersections, byat each traffic intersection in the traffic network, identifying a first object detection zone in each field of view from the data collected from the first sensor, and a second object detection zone in each field of view from the data collected from the second sensor,selecting a plurality of boundary points in the first object detection zone, and a plurality of points in the second object detection zone that correspond to the boundary points in the first detection zone,estimating a transformation matrix for a planar area comprising each field of view by mapping the plurality of points in a plane of each roadway approach as seen by the second sensor, to the plurality of boundary points in a plane of each roadway approach as seen by the first sensor to correct a perspective distortion between the data collected by the first sensor and the data collected by the second sensor to transpose the first object detection zone onto the second object detection zone to create a combined detection zone for each roadway approach, andevaluating one or more attributes of each combined detection zone to detect a presence of the one or more objects at each roadway approach of each traffic intersection;
calibrating each combined detection zone from each roadway approach for each traffic intersection, and calibrating the combined detection zones in the traffic network to fuse the input data for the traffic network;
determining an adjusted signal timing for at least one roadway approach in the traffic network based on the one or more objects detected; and
generating an output signal to a desired traffic signal controller in the traffic network to implement the adjusted signal timing for the at least one roadway approach.
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Abstract
A framework for precision traffic analysis combines traffic sensor data from multiple sensor types, combining the strengths of each sensor type within various conditions in an intersection or roadway in which traffic activity occurs. The framework calibrates coordinate systems in images taken of the same area by multiple sensors, so that fields of view from one sensor system are transposed onto fields of view from other sensor systems to fuse the images taken into a combined detection zone, and so that objects are properly detected and classified for enhanced traffic signal control.
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Citations
30 Claims
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1. A method, comprising:
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receiving input data representing fields of view of a plurality of roadway approaches at or near a traffic intersection, the input data including data collected from a first sensor, and data collected from a second sensor, for each roadway approach in the plurality of roadway approaches; analyzing the input data within a computing environment n one or more data processing modules executed in conjunction with at least one specifically-configured processor, the one or more data processing modules configured to fuse the data from the first sensor with the data from the second sensor for each roadway approach to detect one or more objects in each field of view in the plurality of roadway approaches, and analyze input data collected for each roadway approach in a traffic network comprising one or more traffic intersections, by at each traffic intersection in the traffic network, identifying a first object detection zone in each field of view from the data collected from the first sensor, and a second object detection zone in each field of view from the data collected from the second sensor, selecting a plurality of boundary points in the first object detection zone, and a plurality of points in the second object detection zone that correspond to the boundary points in the first detection zone, estimating a transformation matrix for a planar area comprising each field of view by mapping the plurality of points in a plane of each roadway approach as seen by the second sensor, to the plurality of boundary points in a plane of each roadway approach as seen by the first sensor to correct a perspective distortion between the data collected by the first sensor and the data collected by the second sensor to transpose the first object detection zone onto the second object detection zone to create a combined detection zone for each roadway approach, and evaluating one or more attributes of each combined detection zone to detect a presence of the one or more objects at each roadway approach of each traffic intersection; calibrating each combined detection zone from each roadway approach for each traffic intersection, and calibrating the combined detection zones in the traffic network to fuse the input data for the traffic network; determining an adjusted signal timing for at least one roadway approach in the traffic network based on the one or more objects detected; and generating an output signal to a desired traffic signal controller in the traffic network to implement the adjusted signal timing for the at least one roadway approach. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system, comprising:
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a computing environment including at least one non-transitory computer-readable storage medium having program instructions stored therein and a computer processor operable to execute the program instructions within one or more data processing modules configured to fuse input data representing fields of view of a plurality of roadway approaches at or near a traffic intersection, the input data including data collected from a first sensor, and data collected from a second sensor, for each roadway approach in the plurality of roadway approaches, the one or more data processing modules including; one or more data processing modules configured to identify a traffic network comprising one or more traffic intersections, at each traffic intersection in the traffic network, identify a first object detection zone in each field of view from the data collected from the first sensor, and a second object detection zone in each field of view from the data collected from the second sensor, select a plurality of boundary points in the first object detection zone, and a plurality of points in the second object detection zone that correspond to the plurality of boundary points in the first detection zone, estimate a transformation matrix for a planar area comprising the each field of view of each roadway approach, by mapping the plurality of points in a plane of each roadway approach as seen by the second sensor, to the plurality of boundary points in a plane of each roadway approach as seen by the first sensor, to correct a perspective distortion between the data collected by the first sensor and the data collected by the second sensor to transpose the first object detection zone onto the second object detection zone to create a combined detection zone, evaluate one or more attributes of each combined detection zone to detect a presence of the one or more objects at each roadway approach of each traffic intersection, and calibrate each combined detection zone from each roadway approach for each traffic intersection, and calibrate the combined detection zones in the traffic network to fuse the input data for the traffic network; and a traffic signal module configured to determine an adjusted signal timing for at least one roadway approach in the traffic network based on the one or more objects detected and generate an output signal to a desired traffic signal controller in the traffic network to implement the adjusted signal timing for the at least one roadway approach. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of detecting one or more objects in a traffic detection zone using a plurality of different sensors for adjusting traffic signal timing in a traffic network, comprising:
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defining a traffic network comprised of one or more traffic intersections, each traffic intersection in the one or more traffic intersections having a plurality of roadway approaches; for each roadway approach at the one or more traffic intersections, configuring a first object detection zone in a field of view of each roadway approach from data collected from a first sensor, and a second object detection zone in the field of view of each roadway approach from data collected from a second sensor; calibrating arbitrary planar coordinates between the first object detection zone and the second object detection zone for each roadway approach to create a combined detection zone for the fields of view of each roadway approach, by selecting a plurality of boundary points in the first object detection zone, and a plurality of points in the second object detection zone that correspond to the plurality of boundary points in the first object detection zone, correcting a perspective distortion in the fields of view between the data collected by the first sensor and the data collected by the second sensor from the selected plurality of boundary points, by estimating a transformation matrix for a planar area comprising the field of view to map the plurality of points in a plane of each roadway approach as seen by the second sensor, to the plurality of boundary points in a plane of each roadway approach as seen by the first sensor, finding an equivalent zone location and an equivalent shape between the first detection zone and the second detection zone, detecting one or more objects at each roadway approach by analyzing one or more attributes of the combined detection zone; fusing data for the traffic network, by calibrating each combined detection zone from each roadway approach for each traffic intersection, and calibrating the combined detection zones of the one or more traffic intersections; adjusting a signal timing for at least one roadway approach in the traffic network based on the one or more objects detected; and communicating with a desired traffic signal controller in the traffic network to implement an adjusted signal timing for the at least one roadway approach. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification