Vegetation detection and alert system for a railway vehicle

Abstract

The present disclosure relates generally to vegetation detection and, in particular, to a vegetation detection and alert system for a railway vehicle.

What is claimed is: 
     
         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; 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 geometric computer model of the environment in which objects in the environment are represented by a collection of geometry;   detecting vegetation in the clearance zone based on the 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 . 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;   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 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 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. 
   
     
     
         4 . A method comprising detecting objects, optionally vegetation, using an acquisition device of  claim 3  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 geometric computer model of the environment in which objects in the environment are represented by a collection of geometry and images; 
 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. 
 
     
     
         5 . The method of  claim 4  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. 
     
     
         6 . A device of  claim 3 , 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.