Vegetation detection and alert system for a railway vehicle
The present disclosure relates generally to vegetation detection and, in particular, to a vegetation detection and alert system for a railway vehicle.
1. An alert system for alerting railway operators of one or more obstructions in a volumetric clearance zone around a railroad track on which a railway vehicle moves, comprising:
an imaging sensor configured to capture images of an environment of the railway vehicle including the volumetric clearance zone around the 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 volumetric 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 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 whereupon a notification is generated and provided to the railway operator advising the operator of the location of the obstruction in the clearance zone.
2. The system of claim 1 wherein the obstruction is identified and the notification includes the identification of the obstruction.
3. The system of claim 2 wherein the obstruction is vegetation and the notification includes an identification of the type of vegetation detected in the clearance zone.
4. The system of claim 1 wherein the obstructions are observed in real time as the railway vehicle travels along the railroad track.
5. The system of claim 4 wherein the typing and location of the obstruction occur in real time, and the notification containing the location and typing of the obstruction is provided to the railway operator in real time.
6. The system of claim 5 wherein the notification is provided wirelessly.
7. The system of claim 1 wherein the notification is provided to the railway operator in the form of a composite image that includes; (i) a geospatial image that depicts the obstruction, that is overlaid with; (ii) the clearance zone, whereupon the railway operator can readily ascertain the location and size of the obstruction in the railway clearance zone.
8. The system of claim 7 wherein the notification further includes a rating of the proximity or danger of the obstruction in the clearance zone based upon its proximity to the railroad track.
9. The system of claim 8 wherein the closest proximity is labeled in a three tiered manner in which the closest proximity is labeled severe, the next closest proximity is labeled high and the furthest proximity is labeled moderate based upon criteria selected by the railway operator.
10. The system of claim 9 wherein the obstruction is vegetation and the notification includes an identification of the type of vegetation detected in the clearance zone.
11. The system of claim 1 wherein the notifications are compiled for a specific length of track.