Granted Patent B2

US 10,370,014 · App. 16/166,945 · Granted Aug 6, 2019

Abstract

Claims (35)

1. An acquisition device mountable to a railway vehicle for detecting vegetation, the acquisition device comprising:

an imaging sensor configured to capture images of an environment of the railway vehicle including a clearance zone around a railroad track on which the railway vehicle moves, the imaging sensor being configured to capture the images from the railway vehicle as the railway vehicle moves on the railroad track;

a geospatial position sensor configured to determine a geolocation of the geospatial position sensor and thereby the environment imaged by the imaging sensor; and

a processor coupled to the imaging sensor and geospatial position sensor, and programmed to at least:

reference the images captured by the imaging sensor to the geolocation determined by the geospatial position sensor to form geospatial images of the environment including the clearance zone; and for one or more geospatial images of the geospatial images,

process the one or more geospatial images to produce a geometric computer model of the environment in which objects in the environment are represented by a collection of geometry;

detect vegetation in the clearance zone based on the geometric computer model, wherein a 3D volumetric model of the clearance zone is created for the instant in time of image capture; and

upload the one or more geospatial images and a notification of detected vegetation from which a backend server is configured to generate an alert for a client.

2. A method comprising detecting vegetation using an acquisition device mountable to a railway vehicle, the acquisition device including imaging sensors and a geospatial position sensor, the method comprising:

capturing, by the imaging sensor, images of an environment of the railway vehicle including a clearance zone around a railroad track on which a railway vehicle moves, the imaging sensor capturing the images from the railway vehicle as the railway vehicle moves on the railroad track;

determining, by the geospatial positioning sensor, a geolocation of the geospatial position sensor and thereby the environment imaged by the imaging sensor;

referencing the images captured by the imaging sensor to the geolocation determined by the geospatial position sensor to form geospatial images of the environment including the clearance zone; and for one or more geospatial images of the geospatial images,

processing the one or more geospatial images to produce a 3D geometric computer model of the environment in which objects in the environment are represented by a collection of geometry, wherein a 3D volumetric model of the clearance zone is created for the instant in time of image capture;

detecting vegetation in the clearance zone based on the 3D geometric computer model; and

uploading the one or more geospatial images and a notification of detected vegetation from which a backend server is configured to generate an alert for a client.

3. A method of claim 2 , wherein consecutively captured image sets are used to construct consecutive, time-sliced volumes that are joined together to create an accurate clearance volume around the railroad track and along a rail bed.

4. A method of claim 3 , wherein in parallel with the 3D photogrammetric volume construction, a point cloud of object surfaces in the images is generated using multiple image time slices to build the point cloud around the clearance zone, and further wherein subsequent to point cloud and clearance zone volume generation, the point cloud is intersected with the volume to classify points inside the 3D volume such that density and distances within the point cloud indicate the relative size of the objects and vegetation inside the clearance zone.

5. The method of claim 4 wherein imagery, the point cloud, and volume are joined in a machine learning algorithm to identify the types of objects intruding into the clearance zone.

6. An acquisition device mountable to a railway vehicle for detecting objects, optionally vegetation, the acquisition device comprising:

an imaging sensor configured to capture images of an environment of the railway vehicle including a volumetric clearance zone around a railroad track on which the railway vehicle moves, the imaging sensor being configured to capture images from the railway vehicle as the railway vehicle moves on the railroad track, wherein a 3D volumetric model of the clearance zone is created for the instant in time of image capture;

a geospatial position sensor configured to determine a geolocation of the geospatial position sensor and together with computer vision as needed to thereby contribute to accurate localization of the environment and objects imaged by the imaging sensor; and

a processor coupled to the imaging sensor and geospatial position sensor, and programmed to at least:

reference the images captured by the imaging sensor to the geolocation determined by the geospatial position sensor, the geometric parameters of the imaging sensors and object properties in the images to form geospatially referenced images of the environment including the clearance zone; and for one or more geospatial images of the geospatial images,

process the one or more geospatially referenced images to produce a localized geometric computer model of the 3D volumetric environment in which objects in the environment are represented by a collection of geometry and plurality of image pixels and whole images;

detect and localize objects in the volumetric clearance zone based on the geometric computer model and the plurality of image pixels and whole images; and

upload the one or more geospatial images and a notification of detected and localized objects from which an alert can optionally be generated.

7. A device of claim 6 , wherein in parallel with 3D photogrammetric volume construction, there is provided a means for creating a point cloud of object surfaces in the images which can be generated using multiple image time slices, and further wherein there is provided means for utilizing computer vision and photogrammetric techniques to build the point cloud around the clearance zone.

8. A method comprising detecting objects, optionally vegetation, using an acquisition device of claim 6 mountable to a railway vehicle, the acquisition device including one or more imaging sensors and a geospatial position sensor, the method comprising:

capturing, by the imaging sensor, images of an environment occupied by the railway vehicle including a volume clearance zone around a railroad track on which a railway vehicle moves, the imaging sensor capturing a plurality of images from the railway vehicle as the railway vehicle moves on the railroad track;

determining, by the geospatial positioning sensor, a geolocation of the geospatial positioning sensor and thereby contributing to localization of the environment imaged by the imaging sensor;

referencing the images captured by the imaging sensor to the geolocation determined by the geospatial position sensor and image object geometry to form geospatial images of the environment including the clearance zone; and for one or more geospatial images of the geospatial images,

processing the one or more geospatial images to produce a 3D geometric computer model of the environment in which objects in the environment are represented by a collection of geometry and images; wherein a 3D volumetric model of the clearance zone is created for the instant in time of image capture

detecting objects in the clearance zone based on the geometric computer model and images; and

optionally uploading the one or more geospatial images to a desired format, and/or to an environment model, and a notification of detected object can optionally be generated.

9. The method of claim 8 wherein in parallel with 3D photogrammetric volume construction, a point cloud of object surfaces in the images is generated using multiple image time slices, and further wherein computer vision and photogrammetric techniques are used to build the point cloud around the clearance zone.

Assignments (7)