The procedure of automatic radar-less speed measurement of mobile objects using a stationary camera

This paper considers the problem of automatic road scene marking to determine the speed of objects by the radar-less method based on data from only one stationary camera. In addition to the limit in the number of used cameras (no more than one camera per scene), the solution is required to be able to automatically calculate the road markings on a microcomputer. To obtain correct markings, we apply calculating of vanishing points based on the analysis of information about moving road scene participants and calculating of the top view transformation matrix for a scene. Scene marking is defined as a set of virtual lines on a roadway, which allow determining the speed of a vehicle when it is crossing these lines consecutively. The combined use of vanishing points calculation and the construction of the bird's-eye view makes it possible to obtain the required result with minimum computational cost and with sufficient accuracy, despite the problems caused by the image perspective. The paper shows how to apply the approach for automatic marking of road scenes to determine speed on different types of devices, such as x86 platforms and nvidia jetson microcomputers. A distinctive feature of the method is the full automation of the road marking, in which all the stages are implemented automatically without operator's help. In addition, the algorithm does not require any precalculations related to the characteristics of a camera for taking images. The possibility of deploying the proposed solution on microcomputers allows scaling different systems of monitoring and analyzing road infrastructure. To add a new location to the system it is enough to install a single device, which includes both an input device (camera) and a calculator (microcomputer).