Video camera-based visibility measurement system

• US 20030197867A1
• Filed: 01/13/2003
• Published: 10/23/2003
• Est. Priority Date: 03/12/1999
• Status: Active Grant

• Current Assignee: Regents of The University of Minnesota (University of Minnesota)
• Original Assignee: Regents of The University of Minnesota (University of Minnesota)
• Inventors: Kwon, Taek Mu
• Granted Patent: US 7,016,045 B2
• Time in Patent Office: Days
• US Class Current: 356/437
• CPC Class Codes: G01N 21/538 for determining atmospheric attenuation and visibility
• CPC Class Codes: G01N 21/59 Transmissivity G01N21/25 takes precedence

Abstract

A visibility measurement system that computes relative visibility by comparing an images of an environment against a benchmark image. A sensing device receives an image and a digital conversion system maps the image into a two-dimensional data array. A processor converts the digital data to a value that represents visibility by identifying a region in the image that has a uniform distance from the sensing device over time, computing a benchmark visibility index for the region as a summation of measurable visual characteristics that influence visibility in the region under a benchmark environmental condition, computing a second visibility index for a second environmental condition, and computing a relative visibility value as the ration of the second visibility index in relation to the benchmark visibility index.

Claims

1. A visibility measurement system comprising an image sensing device for sensing at least a first and a second image of an environment, the visibility meansurement system comprising a digital conversion system that maps the image of the environment into a two-dimensional data array, and a processor that computes a benchmark visibility index as a summation of measurable visual characteristics that influence visibility under a benchmark environmental condition, computes a second visibility index for a second environmental condition, and computes a relative visibility value as the ratio of the second visibility index to the benchmark visibility index.

2. The visibility measurement system of claim 1 wherein the visibility index is a function related to clarity of objects in the image, the average luminance of the image, and the average contrast of the image.

3. The visibility measurement system of claim 1 wherein the relationship between the visibility index and the average contrast of the image is defined by an approximately parabolic function.

4. The visibility measurement system of claim 1 wherein the relationship between the visibility index and the average luminance of the image is defined by an approximately parabolic function.

5. The visibility measurement system of claim 1 wherein the processor identifyes a region in the image that has objects which have a uniform distance from the sensing device in the first image and in the second image, and wherein the processor computes the visibility indexes and the relative visibility value based upon the data in the region.

6. A method for computing visibility comprising:

sensing with a sensing device a benchmark image of an environment under a benchmark condition with a sensing device;

sensing with the sensing device a second image of an environment under a second condition;

computing a benchmark visibility index from the benchmark image as a summation of measurable visual characteristics that influence visibility;

computing a second visibility index from the second image as a summation of measurable visual characteristics that influence visibility;

computing a relative visibility value as the ratio of the second visibility index to the benchmark visibility index.

7. The method of claim 6 further comprising mapping the benchmark image of the environment into a two-dimensional data array before computing the benchmark visibility index.

8. The method of claim 6 wherein one or more objects are included in both the benchmark image and the second image.

9. The method of claim 8 wherein the steps of sensing a benchmark image and sensing a second image involve a sensing device, the method further comprising the step of estimating the distance from the sensing device of one or more objects in the image.

10. The method of claim 9 further comprising identifying a region in the image that includes objects having a uniform distance from the sensing device over time.

12. The method of claim 6 wherein the steps of computing a benchmark visibility index and a second visibility index involve computation of a function relating the clarity of aspects of the image, the average luminance of the image, and the average contrast of the image.

13. The method of claim 12 wherein the relationship between the visibility index and the average contrast of the image is defined by a parabolic function.

14. The method of claim 12 wherein the relationship between the visibility index and the average luminance of the image is defined by a parabolic function.

15. The method of claim 6 further comprising computing visibility based upon a logarithmic relationship between visibility and relative visibility.

16. A relative visibility measurement system comprising:

means for sensing an image of an environment;

means for identifying a region in the image that has a uniform distance from the sensing device over time;

means for computing a benchmark visibility index for the region as a summation of measurable visual characteristics that influence visibility in the region under a benchmark environmental condition;

means for computing a second visibility index for a second environmental condition;

means for computing the relative visibility in terms of the magnitude of the second visibility index in relation to the benchmark visibility index.

17. A relative visibility measurement system comprising:

an image sensing device for sensing an image of an environment;

a code segment for identifying a region in the image that has a uniform distance from the sensing device over time;

a code segment for computing a benchmark visibility index for the region as a summation of measurable visual characteristics that influence visibility in the region under a benchmark environmental condition;

a code segment for computing a second visibility index for a second environmental condition; and

a code segment for computing the relative visibility in terms of the magnitude of the second visibility index in relation to the benchmark visibility index.

18. A relative visibility measurement system comprising:

an image sensing device for sensing an image of an environment and providing a data output;

a processor for processing the data to determine relative visibility by identifying constant environmental features and comparing image contrast and luminance data relating to the environmental features against known data for the features under a benchmark condition.

19. A relative visibility measurement system comprising:

an image sensing device for sensing an image of an environment and providing a data output, the image sensing device placed at a first location;

a transmitting system for transmitting the data to from the first location to a second location;

a processor at the second location for processing the data to determine relative visibility by identifying constant environmental features and comparing image contrast and luminance data relating to the environmental features against known data for the features under a benchmark condition.

20. A system for measuring relative visibility, comprising:

a video camera that is positioned to perceive a scene including objects located at various distances from the camera, the video camera providing an output comprising an image of the scene;

a processor that computes relative visibility by approximating the distance from the camera of objects in the image and comparing a region of the image to a corresponding region in a benchmark image to determine relative visibility.

21. The system of claim 20 wherein the benchmark image corresponds to 100% visibility.

22. The system of claim 20 wherein the camera is positioned such that horizon is visible from the camera view.

23. The system of claim 20 wherein the processor computes relative visibility based upon the reduction of edge information and contrast trends in the region.

24. The system of claim 20 wherein the processor computes a visibility index for the region of the image, the visibility index being a function of the clarity of objects in the image, the average luminance of the image, and the average contrast of the image.

25. The system of claim 20 wherein the relative visibility is computed as the ratio of the visibility index for a given image to the visibility index for the benchmark image.