System for the determination of retroreflectivity of road signs and other reflective objects

• US 9,989,456 B2
• Filed: 02/28/2013
• Issued: 06/05/2018
• Est. Priority Date: 08/12/2000
• Status: Expired due to Term

• Current Assignee: Dbi/cidaut Technologies, LLC
• Original Assignee: Facet Technology Corp.
• Inventors: Retterath, Jamie E., Laumeyer, Robert A.
• Primary Examiner(s): Moyer, Andrew
• Assistant Examiner(s): Rosario, Dennis
• Application Number:
  US13/781,017
• Publication Number:
  US 20130271613A1
• Time in Patent Office: 1,923 Days
• Field of Search: 359531, 359529, 359530, 382104
• CPC Class Codes: G01N 21/251 Colorimeters; Construction thereof
• CPC Class Codes: G01N 21/55 Specular reflectivity
• CPC Class Codes: G01N 21/84 Systems specially adapted for particular applications
• CPC Class Codes: G01N 2201/06113 Coherent sources; lasers
• CPC Class Codes: G01N 2201/102 Video camera
• CPC Class Codes: G01N 2201/12 Circuits of general importance; Signal processing
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element

Abstract

A system for the determination of retroreflectivity values for reflective surfaces disposed along a roadway repeatedly illuminates an area along the roadway that includes at least one reflective surface using a light source. Multiple light intensity values are measured over a field of view which includes at least a portion of the area illuminated by the light source. A computer processing system is used to identifying a portion of the light intensity values associated with a reflective surface and analyze the portion of the light intensity values to determine at least one retroreflectivity value for that reflective surface.

Claims

1. A method of automated determination of retroreflectivity values for reflective surfaces disposed along a roadway comprising:

activating a light source on a capture vehicle, while the capture vehicle is moving along the roadway, to illuminate an area that includes at least one reflective surface, the at least one reflective surface including a foreground surface and a background surface;

determining a plurality of light intensity values with at least one intensity sensor directed to cover a field of view which includes at least a portion of the area illuminated by the light source;

while the capture vehicle is moving, capturing a color image with a camera mounted on the capture vehicle and directed to cover a field of view which includes at least a portion of the area illuminated by the light source, the camera being distinct from the at least one intensity sensor; and

using a computer processing system to;

identify a portion of the plurality of light intensity values, the portion of the plurality of light intensity values being associated with one of the at least one reflective surfaces;

analyze the portion of the plurality of light intensity values; and

determine at least one retroreflectivity value for the one of the at least one reflective surfaces using the portion of the plurality of light intensity values, the captured color image, and at least one of;

a sheeting color of the background surface of the one of the at least one reflective surfaces and a sheeting color of the foreground surface of the one of the at least one reflective surfaces.

2. The method of claim 1, wherein determining a plurality of light intensity values comprises measuring luminance.

3. The method of claim 1, wherein determining a plurality of light intensity values comprises measuring light intensity.

4. A System for acquiring information to assess reflective surfaces disposed along a roadway comprising;

a capture vehicle having;

.

a light source, on the capture vehicle;

a light sensor;

a camera, mounted on the capture vehicle, the camera being distinct from the light sensor; and

a control system operably connected to the light source, the camera and the light sensor such that i) the light sensor records light intensity information associated with an area that includes at least one reflective surface and ii) the camera captures a color image that includes color image information associated with an area that includes the at least one reflective surface, while the capture vehicle is moving along the roadway, in response to repeated illumination of the area by the light source while the capture vehicle is moving, the at least one reflective surface including a foreground surface and a background surface; and

a computer processing system that;

identifies a portion of the plurality of light intensity values from the recorded light intensity information, the portion of the plurality of light intensity values being associated with the at least one reflective surface,

analyzes the portion of the plurality of light intensity values, and

determines at least one retroreflectivity value for the at least one reflective surface using the portion of the plurality of light intensity values, the captured color image, and at least one of;

a sheeting color of the background surface of the at least one reflective surface and a sheeting color of the foreground surface of the at least one reflective surface.

5. The system of claim 4, wherein the light sensor records luminance.

6. The system of claim 4, wherein the light sensor records light intensity.

7. A method of automated determination of retroreflectivity values for reflective surfaces comprising:

activating a light source on a capture vehicle, while the capture vehicle is moving along a roadway, to illuminate an area that includes at least one reflective surface without targeting the light source on the at least one reflective surface, the at least one reflective surface including a foreground surface and a background surface;

determining a plurality of light intensity values with at least one intensity sensor directed to cover a field of view which includes at least a portion of the area illuminated by the light source;

while the capture vehicle is moving, capturing a color image with a camera mounted on the capture vehicle and directed to cover a field of view which includes at least a portion of the area illuminated by the light source, the camera being distinct from the at least one intensity sensor; and

using a computer processing system to;

identify a portion of the plurality of light intensity values associated with one of the at least one reflective surface;

analyze the portion of the plurality of light intensity values; and

determine at least one retroreflectivity value for the one of the at least one reflective surface using the portion of the plurality of light intensity values, the captured color image, and at least one of;

a sheeting color of the background surface of the at least one reflective surface and a sheeting color of the foreground surface of the at least one reflective surface;

wherein the portion of the plurality of light intensity values comprises a frame of pixel intensity values and a plurality of reflective surfaces are present in the portion of the plurality of light intensity values.

8. The method of claim 7, wherein determining a plurality of light intensity values comprises measuring luminance.

9. The method of claim 7, wherein determining a plurality of light intensity values comprises measuring light intensity.

10. A method of automated determination of retroreflectivity values for reflective surfaces comprising:

activating a light source on a capture vehicle, while the capture vehicle is moving along a roadway, to illuminate an area that includes at least one reflective surface without targeting the light source on the at least one reflective surface, the at least one reflective surface including a foreground surface and a background surface;

determining a plurality of light intensity values with at least one intensity sensor directed to cover a field of view which includes at least a portion of the area illuminated by the light source;

while the capture vehicle is moving, capturing a color image with a camera mounted on the capture vehicle and directed to cover a field of view which includes at least a portion of the area illuminated by the light source, the camera being distinct from the at least one intensity sensor; and

using a computer processing system to;

identify a portion of the plurality of light intensity values associated with one of the at least one reflective surface;

analyze the portion of the plurality of light intensity values; and

determine at least one retroreflectivity value for the one of the at least one reflective surface using the portion of the plurality of light intensity values, the captured color image, and at least one of;

a sheeting color of the background surface of the at least one reflective surface and a sheeting color of the foreground surface of the at least one reflective surface;

wherein the step of activating the light source is synchronized to the step of determining the plurality of light intensity values.

11. The method of claim 10, wherein determining a plurality of light intensity values comprises measuring luminance.

12. The method of claim 10, wherein determining a plurality of light intensity values comprises measuring light intensity.

13. A. method of automated determination of retroreflectivity values for reflective surfaces comprising:

creating a characterization profile for a light source, the characterization profile including

an array of known luminance values associated with reflections of the light source;

creating a characterization profile for an intensity sensor, the characterization profile including an array of intensity values measured for reflections of a known light source;

activating the light source on a capture vehicle, while the capture vehicle is moving along a roadway, to illuminate an area that includes at least one reflective surface, the at least one reflective surface including a foreground surface and a background surface;

determining a plurality of light intensity values with at least one intensity sensor without targeting a particular reflective surface;

while the capture vehicle is moving, capturing a color image with a color camera mounted on the capture vehicle and directed to cover a field of view which includes at least a portion of the area illuminated by the light source, the color camera being distinct from the at least one intensity sensor;

using a computer processing system to determine at least one retroreflectivity value for one of the at least one reflective surface, including;

identifying a portion of at least one light intensity value associated with one of the at least one reflective surfaces;

utilizing the characterization profile of the light source and the characterization profile for the intensity sensor to determine a luminance value associated with the portion of that light intensity value associated with that reflective surface based on the at least one color associated with that reflective surface; and

converting the luminance value to determine a retroreflectivity value for the one of the at least one reflective surfaces using the portion of the at least one light intensity value, the captured color image, and at least one of;

a sheeting color of the hacks and surface of the one of the at least one reflective surfaces and a sheeting color of the foreground surface of the one of the one of the at least one reflective surfaces.

14. The method of claim 13, wherein determining a plurality of light intensity values comprises measuring luminance.

15. The method of claim 13, wherein determining a plurality of light intensity values comprises measuring light intensity.

16. A method of automated determination of retroreflectivity values for reflective surfaces comprising:

activating a light source on a capture vehicle, while the capture vehicle is moving along a roadway, to illuminate an area that includes at least one reflective surface without targeting the light source on the at least one reflective surface, the at least one reflective surface including a foreground surface and a background surface;

determining a plurality of light intensity values with at least one intensity sensor directed to cover a field of view which includes at least a portion of the area illuminated by the light source;

while the capture vehicle is moving, capturing a color image with a camera iz mounted on the capture vehicle and directed to cover a field of view which includes at least a portion of the area illuminated by the light source, the camera being distinct from the at least one intensity sensor; and

using a computer processing system to;

identify a portion of the plurality of light intensity values associated with one of the at least one reflective surface; and

analyze the portion of the plurality of light intensity values; and

determine at least one retroreflectivity value for the one of the at least one reflective surface using the portion of the plurality of light intensity values, the captured color image, and at least one of;

a sheeting color of the background surface of the at least one reflective surface and a sheeting color of the foreground surface of the at least one reflective surface.

17. The method of claim 16, wherein determining a plurality of light intensity values comprises measuring luminance.

18. The method of claim 16, wherein determining a plurality of light intensity values comprises measuring light intensity.

19. A method of automated determination of retroreflectivity values for reflective surfaces disposed along a roadway comprising:

activating a light source to emit light on a capture vehicle, while the capture vehicle is moving along the roadway, to illuminate an area that includes a reflective surface, the reflective surface including a foreground surface and a background surface;

determining a plurality of light intensity values with a light sensor directed to cover a field of view which includes at least a portion of the area illuminated by the light source;

while the capture vehicle is moving, capturing a color image with a camera mounted on the capture vehicle and directed to cover a field of view which includes at least a portion of the area illuminated by the light source, the camera being distinct from the light sensor; and

using a computer processing system to;

identify a portion of the plurality of light intensity values, the portion of the plurality of light intensity values being associated with the reflective surface;

analyze the portion of the plurality of light intensity values; and

determine a retroreflectivity value for the reflective surface using the portion of the plurality of light intensity values, the captured color image, and at least one of;

a sheeting color of the background surface of the reflective surface and a sheeting color of the foreground surface of the reflective surface.

20. The method of claim 19, wherein the light emitted by the light source has at least two wavelengths.

21. The method of claim 19, wherein the light emitted by the light source includes full-spectrum visible light.

22. The method of claim 19, wherein the light emitted by the light source includes uniform full-spectrum visible light.

23. The method of claim 19, wherein determining plurality of light intensity values is performed by a camera that includes the light sensor.

24. The method of claim 19, wherein using the computer processing system to determine the retroreflectivity value is further based on a position of the light source, a position of the light sensor and a position of the reflective surface.

25. The method of claim 24, wherein using the computer processing system to determine the retroreflectivity value is further based on at least one of:

(i) the position of the light sensor relative to the position of the reflective surface, (ii) the position of the light sensor relative to the position of the light source and (iii) position of the light source relative to the position of the reflective surface.

26. The method of claim 19, wherein using the computer processing system to determine the retroreflectivity value is further based on a characterization profile of the light source and a characterization profile of the light sensor.

27. The method of claim 19, wherein using the computer processing system to determine the retroreflectivity value is further based on an angular displacement between a position of the light source and a position of the light sensor relative to a position of the reflective surface.

28. The method of claim 19, wherein using the computer processing system to determine the retroreflectivity value is further based on an angular displacement of a path of the light emitted by the light source on the reflective surface relative to an axis normal to the reflective surface.

29. The method of claim 19, wherein activating the light source is performed without targeting the light source on the reflective surface.

30. The method of claim 19, wherein the step activating the light source is synchronized to the step of determining the plurality of light intensity values.

31. The method of claim 19, wherein the plurality of light intensity values includes light intensity values representative of the background surface of the reflective surface, and wherein determining the retroreflectivity value for the reflective surface includes using the light intensity values representative of the background surface of the reflective surface.

32. The method of claim 31, wherein determining a retroreflectivity value for the reflective surface includes determining a luminance of the background surface of the reflective surface using the light intensity values representative of the background surface of the reflective surface.

33. The method of claim 19, wherein the plurality of light intensity values includes light intensity values representative of the foreground surface of the reflective surface, and wherein determining the retroreflectivity value for the reflective surface includes using the light intensity values representative of the foreground surface of the reflective surface.

34. The method of claim 33, wherein determining a retroreflectivity value for the reflective surface includes determining a luminance of the foreground surface of the reflective surface using the light intensity values representative of the foreground surface of the reflective surface.

35. The method of claim 19, wherein determining a retroreflectivity value for the reflective surface includes using a color characterization profile of the light source.

36. A system for automated determination of a retroreflectivity value of a reflective surface dispose along a roadway, the system comprising:

a control system operably coupled to a light source, a camera and a light sensor, the camera being distinct from the light sensor, the control system configured to;

activate the light source to emit light on a capture vehicle, while the capture vehicle is moving along the roadway, to illuminate an area that includes a reflective surface, the reflective surface including a foreground surface and a background surface,

activate the light sensor to determine a plurality of light intensity values directed to cover a field of view which includes at least a portion of the area illuminated by the light source; and

while the capturing vehicle is moving, capture a color image with a camera mounted on the capture vehicle and directed to cover a field of view which includes at least a portion of the area illuminated by the light source;

a computer processing system configured to;

identify a portion of the of plurality of light intensity values, the portion of the plurality of light intensity values being associated with the reflective surface;

analyze the portion of the plurality of light intensity values; and

determine a retroreflectivity value for the reflective surface using the portion of the plurality of the light intensity values, the captured color image, and at least one of;

a sheeting color of the background surface of the reflective surface and a sheeting color of the foreground surface of the reflective surface.

37. The system of claim 36, wherein the light emitted by the light source has at least two wavelengths.

38. The system of claim 36, wherein the light emitted by the light source includes full-spectrum visible light.

39. The system of claim 36, wherein the light emitted by the light source includes uniform full-spectrum visible light.

40. The system of claim 36, wherein determining a plurality of light intensity values is performed by a camera that includes the light sensor.

41. The system of claim 36, wherein the computer processing system is further configured to determine the retroreflectivity value based on a position of the light source, a position of the light sensor and a position of the reflective surface.

42. The method of claim 41, wherein the computer processing system is further configured to determine the retroreflectivity value based on at least one of:

(i) the position of the light sensor relative to the position of the reflective surface, (ii) the position of the light sensor relative to the light source and (iii) the position of the light source relative to the position of the reflective surface.

43. The system of claim 36, wherein the computer processing system is further configured to determine the retroreflectivity value based on a characterization profile of the light source and a characterization profile of the light sensor.

44. The system of claim 36, wherein the computer processing, system is further configured to determine the retroreflectivity value based on an angular displacement between a position of the light source and a position of the light sensor relative to a position of reflective surface.

45. The system of claim 36, wherein the computer processing system is further configured to determine the retroreflectivity value based on an angular displacement of a path of the light emitted by the light source on the reflective surface relative to an axis normal to the reflective surface.

46. The system of claim 36, wherein the control system is configured to activate the light source without targeting the light source on the reflective surface.

47. The system of claim 36, wherein the control system is configured to synchronize activation of the light source and determination of the plurality of light intensity values.

48. The system of claim 36, wherein the plurality of light intensity values includes light intensity values representative of the background surface of the reflective surface, and wherein the computer processing system is further configured to determine the retroreflectivity value for the reflective surface includes using the light intensity values representative of the background surface of the reflective surface.

49. The system of claim 48, wherein the computer processing system is further configured to determine a retroreflectivity value for the reflective surface by determining a luminance of the background surface of the reflective surface using the light intensity values representative of the background surface of the reflective surface.

50. The system of claim 36, wherein the plurality of light intensity values includes light intensity values representative of the foreground surface of the reflective surface, and wherein the computer processing system is further configured to determine the retroreflectivity value for the reflective surface using the light intensity values representative of the foreground surface of the reflective surface.

51. The system of claim 50, wherein the computer processing system is further configured to determine a retroreflectivity value for the reflective surface by determining a luminance of the foreground surface of the reflective surface using the light intensity values representative of the foreground surface of the reflective surface.

52. The system of claim 36, wherein the computer processing system is further configured to determine a retroreflectivity value for the reflective surface using a color characterization profile of the light source.