Video speed detection system
DCFirst Claim
1. A system for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the system comprising:
- a tracking camera constructed and arranged to provide a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; and
a processing unit, coupled to the tracking camera, configured to;
receive the images from the tracking camera;
detect in the images a vehicle moving through the measurement area;
determine a real-world position of the vehicle relative to the roadway for each of at least two of the images;
access the timing information associated with said at least two of the images;
calculate a speed of the vehicle based on the real-world positions and accessed timing information, wherein the real-world positions and accessed timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit;
provide a GUI to a user of the system, wherein the GUI is configured to present to the user live video of the measurement area from the tracking camera; and
to continuously update the speed of the vehicle and to display the speed of the vehicle at the position of the vehicle in the video.
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Abstract
A system and method for measuring vehicle speeds using video sensing. The system comprises a tracking camera that generates accurately time-stamped video sequences of the monitored road at high frame rates and a processing unit that analyzes the video sequences in real time to detect moving vehicles and calculate their speeds using the time-over-distance method. The system automatically detects moving vehicles in each image frame and derives vehicle positions from a projective mapping established from reference markers on the road. Time information is obtained from the date and time stamp associated with each image frame. In one example, the system also allows a user of the system to set a trigger speed, and the system automatically saves a video clip of the vehicle whose speed exceeds the trigger speed, recording the speeding vehicle passing through the monitored traffic zone defined by the reference markers.
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Citations
134 Claims
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1. A system for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the system comprising:
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a tracking camera constructed and arranged to provide a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; and a processing unit, coupled to the tracking camera, configured to; receive the images from the tracking camera; detect in the images a vehicle moving through the measurement area; determine a real-world position of the vehicle relative to the roadway for each of at least two of the images; access the timing information associated with said at least two of the images; calculate a speed of the vehicle based on the real-world positions and accessed timing information, wherein the real-world positions and accessed timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; provide a GUI to a user of the system, wherein the GUI is configured to present to the user live video of the measurement area from the tracking camera; and
to continuously update the speed of the vehicle and to display the speed of the vehicle at the position of the vehicle in the video. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the method comprising:
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capturing a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; detecting in the images a vehicle moving through the measurement area; determining, based on the images, a real-world position of the vehicle relative to the roadway for each of at least two of the images; calculating a speed of the vehicle based on the real-world positions and timing information associated with the corresponding images, wherein the real-world positions and timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; displaying the plurality of images of a measurement area as live video via a graphical user interface; and continuously updating the speed of a vehicle and displaying the speed of the vehicle at the position of the vehicle in the video. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
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49. A system for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the system comprising:
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a tracking camera constructed and arranged to provide a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; a processing unit, coupled to the tracking camera, configured to; receive the images from the tracking camera; detect in the images a vehicle moving through the measurement area; determine a real-world position of the vehicle relative to the roadway for each of at least two of the images; access the timing information associated with said at least two of the images; calculate a speed of the vehicle based on the real-world positions and accessed timing information, wherein the real-world positions and accessed timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; and provide a GUI to a user of the system; and a storage device constructed and arranged to record the images of the vehicle passing through the measurement area, wherein the images received by the processing unit are the recorded images of the vehicle, wherein the GUI is further configured to display the recorded images of the vehicle, and wherein the processing unit is further configured to allow the user of the system to step through the recorded images and determine the frames at which the vehicle passes two reference lines separated by a known distance. - View Dependent Claims (50)
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51. A system for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the system comprising:
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a tracking camera constructed and arranged to provide a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; and a processing unit, coupled to the tracking camera, configured to; receive the images from the tracking camera; detect in the images a vehicle moving through the measurement area; determine a real-world position of the vehicle relative to the roadway for each of at least two of the images; access the timing information associated with said at least two of the images; calculate a speed of the vehicle based on the real-world positions and accessed timing information, wherein the real-world positions and accessed timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; and construct rectified images of the measurement area from the plurality of images by determining a projective mapping from four point correspondences.
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52. A system for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the system comprising:
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a tracking camera constructed and arranged to provide a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; and a processing unit, coupled to the tracking camera, configured to; receive the images from the tracking camera; detect in the images a vehicle moving through the measurement area; determine a real-world position of the vehicle relative to the roadway for each of at least two of the images; access the timing information associated with said at least two of the images; calculate a speed of the vehicle based on the real-world positions and accessed timing information, wherein the real-world positions and accessed timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; and map coordinates of at least one of the plurality of images to actual coordinates of the measurement area using projective mapping.
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53. A system for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the system comprising:
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a tracking camera constructed and arranged to provide a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; and a processing unit, coupled to the tracking camera, configured to; receive the images from the tracking camera; detect in the images a vehicle moving through the measurement area; determine a real-world position of the vehicle relative to the roadway for each of at least two of the images; access the timing information associated with said at least two of the images; calculate a speed of the vehicle based on the real-world positions and accessed timing information, wherein the real-world positions and accessed timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; and extract a background image of the measurement area from the plurality of images by temporal median filtering of the plurality of images.
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54. A system for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the system comprising:
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a tracking camera constructed and arranged to provide a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; and a processing unit, coupled to the tracking camera, configured to; receive the images from the tracking camera; detect in the images a vehicle moving through the measurement area; determine a real-world position of the vehicle relative to the roadway for each of at least two of the images; access the timing information associated with said at least two of the images; and calculate a speed of the vehicle based on the real-world positions and accessed timing information, wherein the real-world positions and accessed timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit, wherein the processing unit is configured to calculate the speed of the vehicle by; making a distance determination of how far the vehicle has traveled between two real-world positions; making a time determination, based on the accessed timing information, of how much time has elapsed between the two images used to make the distance determination; and dividing the distance determination by the time determination to yield the calculated speed of the vehicle. - View Dependent Claims (55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79)
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80. A method for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the method comprising:
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capturing a plurality of images of a measurement area on the roadway, wherein the plurality of images of the measurement area are recorded images, and wherein each of the images is associated with timing information indicating when the image was captured; detecting in the images a vehicle moving through the measurement area; determining, based on the images, a real-world position of the vehicle relative to the roadway for each of at least two of the images; calculating a speed of the vehicle based on the real-world positions and timing information associated with the corresponding images, wherein the real-world positions and timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; displaying the recorded images via a graphical user interface; and allowing a user to step through the recorded images and to determine frames at which the vehicle passes two reference lines separated by a known distance.
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81. A method for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the method comprising:
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capturing a plurality of images of a measurement area on the roadway, wherein the plurality of images of the measurement area are recorded images, and wherein each of the images is associated with timing information indicating when the image was captured; detecting in the images a vehicle moving through the measurement area; determining, based on the images, a real-world position of the vehicle relative to the roadway for each of at least two of the images; calculating a speed of the vehicle based on the real-world positions and timing information associated with the corresponding images, wherein the real-world positions and timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; displaying the recorded images via a graphical user interface; and determining the calculated speed of the vehicle from the distance between the two reference lines and the difference in the timing information associated with the frames at which the vehicle passes the two reference lines.
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82. A method for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the method comprising:
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capturing a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; detecting in the images a vehicle moving through the measurement area; determining, based on the images, a real-world position of the vehicle relative to the roadway for each of at least two of the images; calculating a speed of the vehicle based on the real-world positions and timing information associated with the corresponding images, wherein the real-world positions and timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; and constructing rectified images of the measurement area from the plurality of image, wherein constructing the rectified images comprises determining a projective mapping from four point correspondences.
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83. A method for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the method comprising:
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capturing a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; detecting in the images a vehicle moving through the measurement area; determining, based on the images, a real-world position of the vehicle relative to the roadway for each of at least two of the images; calculating a speed of the vehicle based on the real-world positions and timing information associated with the corresponding images, wherein the real-world positions and timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; constructing rectified images of the measurement area from the plurality of images; and mapping coordinates of at least one of the plurality of images to actual coordinates of the measurement area using projective mapping.
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84. A method for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the method comprising:
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capturing a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; detecting in the images a vehicle moving through the measurement area; determining, based on the images, a real-world position of the vehicle relative to the roadway for each of at least two of the images; calculating a speed of the vehicle based on the real-world positions and timing information associated with the corresponding images, wherein the real-world positions and timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; constructing rectified images of the measurement area from the plurality of images; and extracting a background image of the measurement area from the plurality of images, wherein extracting the background image includes extracting the background image by temporal median filtering of the plurality of images.
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85. A method for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the method comprising:
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capturing a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; detecting in the images a vehicle moving through the measurement area; determining, based on the images, a real-world position of the vehicle relative to the roadway for each of at least two of the images; calculating a speed of the vehicle based on the real-world positions and timing information associated with the corresponding images, wherein the real-world positions and timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit; and repeating the detecting, making a distance determination, making a time determination, and calculating a speed steps for multiple vehicles in the measurement area, thereby calculating their speeds concurrently. - View Dependent Claims (86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109)
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110. A method for monitoring compliance of moving vehicles on a roadway subject to a speed limit, the method comprising:
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capturing a plurality of images of a measurement area on the roadway, wherein each of the images is associated with timing information indicating when the image was captured; detecting in the images a vehicle moving through the measurement area; determining, based on the images, a real-world position of the vehicle relative to the roadway for each of at least two of the images; and calculating a speed of the vehicle based on the real-world positions and timing information associated with the corresponding images, wherein the real-world positions and timing information are sufficiently accurate for the calculated speed to be used to determine whether the vehicle should be issued a citation for exceeding the speed limit, wherein calculating the speed of the vehicle comprises; making a distance determination of how far the vehicle has traveled between two real-world positions; making a time determination of how much time has elapsed between the two images used to make the distance determination; and dividing the distance determination by the time determination to yield the speed. - View Dependent Claims (111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134)
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Specification