Passive single camera imaging system for determining motor vehicle speed

• US 8,401,240 B2
• Filed: 11/07/2007
• Issued: 03/19/2013
• Est. Priority Date: 11/09/2006
• Status: Expired due to Fees

• Current Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Original Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Inventors: Dixon, Warren E., Gans, Nicholas R., Gupta, Sumit
• Primary Examiner(s): STREGE, JOHN B
• Application Number:
  US12/447,782
• Publication Number:
  US 20100111365A1
• Time in Patent Office: 1,959 Days
• Field of Search: 382/104, 382/107
• US Class Current: 382/107
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

A system for passively determining a speed of moving vehicles includes a single imaging device (103) for acquiring a plurality of images at a first time and at least at one second later time, wherein each image includes a moving vehicle (406) on a vehicle pathway (402) and at least one fixed object (404) proximate to the vehicle, defining a first plane (π₁) intersecting an adjacent portion of the vehicle pathway (402), wherein no geometric lengths of the vehicle (406) are known a priori. The system can also include a processor (121) operable to receive data associated with the images and determine a speed of the vehicle (406) in the images, wherein the processor (121) estimates at least one geometric length of the vehicle (406) by applying homography using the plurality of images, and where the processor (121) determines a speed of the vehicle (406) from the plurality of images and the estimated geometric length using a velocity estimation method.

Claims

1. A system for passively determining a speed of moving vehicles, comprising:

an imaging device for acquiring images of a moving vehicle on a vehicle pathway and a fixed object proximate to the moving vehicle, the fixed object defining a first plane that intersects an adjacent portion of the vehicle pathway, wherein no geometric length of the vehicle is known a priori; and

a processor operable to receive data associated with the images and determine a speed of the moving vehicle in the images, wherein the processor estimates a geometric length of the vehicle based on applying homography using the images, and wherein the processor determines a speed of the moving vehicle from the images and the estimated geometric length using a velocity estimation method.

2. The system of claim 1, wherein the processor is remotely located from the imaging device.

3. The system of claim 2, further comprising a removable memory element for storing said images acquired by said imaging device, and wherein said processor is operable to retrieve said images from said removable memory element.

4. The system of claim 2, wherein the imaging device is communicatively coupled to the processor, wherein the system includes a transceiver operable to transmit the data associated with the images from the imaging device to the processor.

5. The system of claim 1, wherein said imaging device is an infrared imaging device.

6. The system of claim 1, further comprising a second imaging device for recording license plate information associated with the vehicle.

7. The system of claim 1, wherein the homography is based on a geometric length of the fixed object.

8. The system of claim 7, wherein the geometric length of the fixed object is determined by homography using images acquired by the camera from different positions.

17. The system of claim 7, wherein the processor calculates the homography by tracking matching feature points associated with the vehicle between the images.

18. The system of claim 17, wherein the processor estimates distances from the fixed object to the feature points based upon the geometric length of the fixed object.

19. The system of claim 18, wherein the processor estimates the geometric length of the vehicle based upon the estimated distances.

9. A method for passively determining a speed of moving vehicles, comprising:

acquiring images of a moving vehicle on a vehicle pathway and a fixed object proximate to the moving vehicle that defines a first plane which intersects an adjacent portion of the vehicle pathway, wherein no geometric length of the vehicle is known a priori;

estimating a geometric length of the vehicle based on applying homography using the images of the vehicle; and

determining a speed of the moving vehicle from the images and the geometric length using a velocity estimation method.

10. The method of claim 9, wherein a location of the imaging device is different from a location for processing the images.

11. The method of claim 10, wherein said acquiring step further comprises storing said images in a removable memory element at said location of said imaging device, the method further comprising:

prior to said estimating step, moving said memory element to said processing location and retrieving said images from said memory element.

12. The method of claim 10, further comprising:

prior to said estimating step, transmitting said images to said processing location using at least one among a wireless and a wireline transmission.

13. The method of claim 9, wherein said imaging device comprises an infrared imaging device.

14. The method of claim 9, further comprising:

recording license plate information associated with the vehicle.

15. The method of claim 9, wherein the homography is based on a geometric length of the fixed object.

16. The method of claim 15, wherein the geometric length of the fixed object is determined by homography using a images acquired by the camera from different positions.

20. The method of claim 15, further comprising calculating the homography by tracking matching feature points associated with the vehicle between the images.

21. The method of claim 20, further comprising estimating distances from the fixed object to the feature points based upon the geometric length of the fixed object.

22. The method of claim 21, wherein estimating the geometric length of the vehicle comprises estimating the geometric length based upon the estimated distances.