Method and apparatus for estimating the velocity vector of multiple vehicles on non-level and curved roads using a single camera

  • US 7,920,959 B1
  • Filed: 04/28/2006
  • Issued: 04/05/2011
  • Est. Priority Date: 05/01/2005
  • Status: Active Grant
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First Claim
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1. A system for determining velocity in three dimensions of at least one vehicle, from a two-dimensional image of the at least one vehicle in a roadway, comprising:

  • a camera configured to acquire two-dimensional images of a three-dimensional roadway system, the roadway system comprising at least one road, the roadway system including at least one vehicle moving relative to a background scene,a processor, coupled to the camera, configured to receive and store an image sequence of the three-dimensional roadway system, said processor configured to record the image sequence as a series of frames, each frame including image data forming a two-dimensional representation including a plurality of image regions depicting the moving vehicles and the background scene at an associated point in time, the processor configured to map each pixel of the two-dimensional background image to a three-dimensional model of the three-dimensional roadway system to produce a conversion map for converting two dimensional pixel locations to three-dimensional real-world locations, the processor configured to convert pixels assigned in the two-dimensional image to each identified vehicle to a three-dimensional real world location using the conversion map, the processor configured to identify a moving vehicle of the plurality of moving vehicles by comparing a plurality of frames of the image sequence and identifying a image region of the image sequence including the moving vehicle, the processor configured to calculate a location of the moving vehicle in the three-dimensional roadway system in each of the plurality of frames containing the image region including the moving vehicle, and the processor configured to calculate a velocity vector consisting of a speed and a direction of the moving vehicle in the three-dimensional roadway system in each of the plurality of frames containing the image region including the moving vehicle.

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