Vehicle detection through image processing for traffic surveillance and control

• US 4,847,772 A
• Filed: 02/17/1987
• Issued: 07/11/1989
• Est. Priority Date: 02/17/1987
• Status: Expired due to Term

• Current Assignee: Regents of The University of Minnesota (University of Minnesota)
• Original Assignee: Regents of The University of Minnesota (University of Minnesota)
• Inventors: Fitch, Robert C., Geokezas, Meletios, Michalopoulos, Panos G., Fundakowski, Richard A.
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US07/015,104
• Time in Patent Office: 875 Days
• Field of Search: 364/436, 364/521, 364/515, 364/518, 358/105, 340/937, 340/910, 340/917, 340/934, 340/935, 382/10, 382/16, 382/18, 382/39
• US Class Current: 701/117
• CPC Class Codes: G08G 1/00 Traffic control systems for road vehicles arrangement of road signs or traffic signals E01F9/00 ; automatic vehicle control B62D
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors

Abstract

A vehicle detection system for providing data characteristic of traffic conditions includes a camera overlooking a roadway section for providing video signals representative of the field (traffic scene), and a digitizer for digitizing these signals and providing successive arrays of pixels (picture elements) characteristic of the field at successive points in space and time. A video monitor coupled to the camera provides a visual image of the field of view. Through use of a terminal and in conjunction with the monitor, an operator controls a formatter so as to select a subarray of pixels corresponding to specific sections in the field of view. A microprocessor then processes the intensity values representative of the selected portion of the field of view in accordance with spatial and/or temporal processing methods to generate data characteristic of the presence and passage of vehicles. This data can be utilized for real-time traffic surveillance and control, or stored in memory for subsequent processing and evaluation of traffic flow conditions.

Claims

1. A vehicle detection system including:

sensor means for sensing traffic in a field of view and for providing successive arrays of pixels characteristic of the field of view;

a formatter coupled to the sensor means and including an input terminal for receiving subarray selection information representative of changeable selected portions of the field of view and means for selecting subarrays of pixels characteristic of the selected portions of the field of view from the arrays provided by the sensor means;

as a function of the subarray selection information and

processor means for processing the selected subarrays of pixels and for providing data representing presence and/or passage of vehicles within the selected portions of the field view.

2. The system of claim 1 wherein the sensor means including:

a camera for providing video signals representative of the field of view; and

digitizer means for digitizing the video signals to produce the arrays of pixels.

3. The system of claim 1 and further including a terminal coupled to the formatter and responsive to operator actuation.

4. The system of claim 1 wherein the processor means include means for spatially processing the subarrays of pixels.

5. The system of claim 1 wherein the processor means includes means for temporally processing the subarrays of pixels.

6. The system of claim 1 and further including monitor means coupled to the sensor means for providing a visual display of the selected portions of the field of view.

7. The system of claim 1 and further including traffic control/surveillance/counting-classifying means coupled to the processor means for controlling/monitoring/classifying-counting traffic as a function of the data representing the presence and/or passage of vehicles.

8. The system of claim 1 and further including memory means for storing the data.

9. The system of claim 1 wherein the formatter includes means for receiving information representative of selected two-dimensional portions of the field of view.

10. A system of the type including imaging means for providing successive pixel arrays characteristic of a field of view including traffic, over time, and processor means for processing the pixels to produce data representative of presence and/or passage of vehicles within the field of view;

which system includes a formatter coupled between the imaging means and the processor means, and including an input terminal for receiving subarray selection information data representative of changeable selected portions of the field of view and means for selecting subarrays of pixels characteristic of the selected portions of the field of view as a function of the subarray selection information for processing by the processor means.

11. The system of claim 10 and further including terminal means coupled to the formatter for permitting an operator to control the formatter and select pixels characteristic of desired selected portions of the field of view.

12. The system of claim 11 and further including monitor means coupled to the imaging means for providing a visual image of the field of view, wherein the operator uses the terminal means in conjunction with the monitor means to select pixels of interest within the field of view.

13. A method for operating programmable computing means to spatially process arrays of pixels representative of a field of view of traffic over time so as to generate data characteristic of presence of vehicles within the field of view, including:

receiving successive sensed arrays of pixels representative of a field of view of traffic over time;

time averaging corresponding pixels of successive sensed arrays over time to provide a time averaged array;

summing corresponding pixels of the time averaged array with pixels of a sensed array to generate a background adjusted array;

spatially averaging window groups of pixels of the background adjusted array to generate a spatially averaged array;

generating a spatial variance array of pixels as a function of corresponding pixels from the background adjusted array and pixels from the spatially averaged array; and

generating data representative of vehicle presence as a function of pixels of the spatial variance array.

14. The method of claim 13 wherein spatially averaging window groups of pixels of the background adjusted array includes spatially averaging window groups of M by L pixels, where L is a predetermined number of horizontally adjacent pixels and M is a predetermined number of vertically adjacent pixels.

15. The method of claim 14 wherein spatially averaging window groups of pixels of the background adjusted array includes spatially averaging window groups of one by L pixels.

16. The method of claim 14 wherein spatially averaging window groups of pixels of the background adjusted array includes spatially averaging window groups of M by one pixels.

17. The method of claim 13 wherein generating a spatial variance array of pixels includes generating a spatial variance array of pixels as a function of variance window groups of corresponding pixels from the background adjusted array and the spatially averaged array.

18. The method of claim 13 wherein generating data as a function of pixels of the spatial variance array includes generating an absence variance array of pixels which is representative of the spatial variance of pixels in the absence of vehicles as a function of the data representative of vehicle presence and pixels of the spatial variance array, and generating data representative of vehicle presence as a function of pixels of the absence variance of array.

19. The method of claim 18 wherein generating data representative of vehicle presence as a function of pixels of the absence variance array includes:

generating an intermediate value as a function of pixels of the absence variance array;

comparing pixels of the spatial variance array to the intermediate value generated as a function of corresponding pixels of the absence variance array;

denoting pixels as representing a portion of the field of view at which a vehicle either potentially is or potentially is not present as a function of the comparison; and

generating data representative of vehicle presence when at least a predetermined number of pixels within a window group of adjacent pixels are denoted as representing a portion of the field of view at which a vehicle potentially is present.

20. The method of claim 18 wherein generating data representative of vehicle presence and/or passage as a function of the absence variance of pixels includes:

generating an intermediate value as a function of the absence variance of pixels;

comparing pixels of the background adjusted array to the intermediate value generated as a function of corresponding pixels of the absence variance array;

denoting pixels as representing a portion of the field of view at which a vehicle either potentially is or potentially is not present as a function of the comparison; and

generating data representative of vehicle presence when at least a predetermined number of pixels within a window group of adjacent pixels are denoted as representing a portion of the field of view at which a vehicle potentially is present.

21. The method of claim 13 and further including:

repeating the steps of time averaging corresponding pixels, summing corresponding pixels, spatially averaging window groups of pixels, generating a spatial variance array, and generating data representative of vehicle presence, so as to generate data representative of vehicle presence over time; and

generating data representative of vehicle passage as a function of the data representative of vehicle presence over time.

22. A method for operating programmable computing means to temporally process arrays of pixels representative of a field of view of traffic over time so as to produce data characteristic of vehicle presence, including:

receiving successive sensed arrays of pixels representative of a field of view of traffic over time;

time averaging corresponding pixels of successive sensed arrays to produce a time averaged array;

summing corresponding pixels of the time averaged array and pixels of a sensed array to produce a background adjusted array;

generating a time variance array of time variance pixels as a function of corresponding pixels from a predetermined number of successive background adjusted arrays; and

generating data representative of vehicle presence as a function of corresponding time variance pixels from the time variance array and background adjusted pixels from the background adjusted array.

23. The method of claim 22 wherein generating a time variance array of time variance pixels includes generating a time variance array of time variance pixels as a function of corresponding pixels from a predetermined number of successive background adjusted arrays, and an average of corresponding pixels from a predetermined number of successive background adjusted arrays.

24. The method of claim 22 wherein generating data representative of vehicle presence includes:

generating an absence variance array of absence variance pixels representative of the spatial variance pixels in the absence of vehicles, as a function of the data representative of vehicle presence and corresponding spatial variance pixels; and

generating data representative of vehicle presence as a function of corresponding pixels from the absence variance array and pixels from the background adjusted array.

25. The method of claim 24 wherein generating data representative of vehicle presence as a function of corresponding pixels from the absence variance array and background adjusted array includes:

generating intermediate values as a function of pixels from the absence variance array;

comparing pixels from the background adjusted array to the intermediate values generated as a function of corresponding pixels from the absence variance array;

denoting pixels as representing a portion of the field of view at which a vehicle either potentially is or potentially is not present as a function of the comparison; and

generating data representative of vehicle presence when at least a predetermined number of pixels within a window group of adjacent pixels are denoted as representing a portion of the field of view at which a vehicle potentially is present.

26. The method of claim 22 and further including:

repeating for a plurality of sensed arrays the steps of time averaging corresponding pixels, summing corresponding pixels, generating a time variance array, and generating data representative of vehicle presence, so as to provide data representative of vehicle presence over time; and

generating data representative of vehicle passage as a function of the data representative of vehicle presence over time.

27. A method for operating programmable computing means to process successive sensed arrays of pixels representative of a field of view of traffic over time to generate data representative of presence of vehicles within the field of view, including:

independently spatially processing the arrays of pixels and generating spatially processed presence data representative of the presence of vehicles within the field of view;

temporally processing the arrays of pixels independent from the spatial processing step and generating temporally processed presence data representative of the presence of vehicles within the field of view; and

generating output data representative of presence of vehicles within the field of view as a function of the spatially processed presence data and the temporally processed presence data.

28. The method of claim 27 wherein generating output data representative of presence of vehicles includes generating data representative of vehicle presence as a logical AND function of the spatially processed presence data and the temporally processed presence data.

29. The method of claim 27 and further including:

repeating for successive sensed arrays of pixels the step of spatially processing the arrays of pixels so as to generate data representative of the presence of vehicles within the field of view over time;

repeating for successive sensed arrays of pixels the step of temporally processing the arrays of pixels so as to generate temporally processed presence data representative of the presence of vehicles within the field of view over time; and

generating data representative of passage of vehicles within the field of view as a function of the spatially processed presence data and the temporally processed presence data.

30. A vehicle detection system, including:

means for sensing traffic in a field of view and for providing successive arrays of pixels representative of the field of view;

means for controlling the selection of subarrays of pixels characteristic of changeable selected portions of the field of view from the arrays provided by the sensor means as a function of traffic within the field of view; and

means for processing the selected subarrays of pixels and for providing data representative of presence and/or passage of vehicles within the selected portions of the field of view.

31. The system of claim 30 wherein the means for controllably selecting includes:

a monitor coupled to the means for sensing for providing a visual display of the field of view;

a terminal; and

an operator observing the monitor and actuating the terminal to select desired portions of the field of view as a function of traffic within the field of view.

32. A method for determining information representative of the presence and/or passage of vehicles within a field of view, including:

sensing a field of view of traffic and generating arrays of pixels characteristic of the field of view;

controlling the selection of subarrays of pixels characteristic of changeable selected portions of the field of view from the generated arrays; and

processing the selected subarrays of pixels and generating data representative of the presence and/or passage of vehicles within the selected portions of the field of view.

33. The method of claim 32 wherein controllably selecting subarrays includes selecting subarrays of pixels as a function of traffic within the field of view.