OPTICAL ROUTE EXAMINATION SYSTEM AND METHOD

Abstract

 Optical route examination systems and methods described herein obtain image data of a field of view (108, 110) of a camera (106; 1606) disposed onboard a first vehicle (102; 1602) as the first vehicle (102; 1602) moves along a first route (120; 1620), and autonomously examine the image data onboard the first vehicle (102) to identify one or more of a feature of interest (200, 202, 204; 500; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) or a designated object (200, 202, 204; 500; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006).

Description

FIELD

[0001] Embodiments of the subject matter disclosed herein relate to examining routes traveled by vehicles and/or assets disposed alongside the routes.

BACKGROUND

[0002] Routes that are traveled by vehicles may become damaged over time with extended use. For example, tracks on which rail vehicles travel may become misaligned due to shifting of underlying ballast material, side-to-side rocking of the rail vehicles, and the like. The tracks may slightly bend or otherwise move out of the original alignment of the tracks. This misalignment can include warping of the tracks that causes the distance between the rails of the track (i.e., the gauge) to change. Alternatively, this distance may remain the same (e.g., both tracks bend the same or similar amounts). This can pose threats to the safety of the rail vehicles, the passengers located thereon, and nearby persons and property. For example, the risks of derailment of the rail vehicles can increase when the tracks become misaligned.

[0003] Some known systems and methods that inspect the tracks involve emitting visible markers on the tracks and optically monitoring these markers to determine if the tracks have become misaligned. These visible markers may be created using laser light, for example. But, these systems and methods can require additional hardware in the form of a light emitting apparatus, such as a laser light source. This additional hardware increases the cost and complexity of the systems, and can require specialized rail vehicles that are not used for the conveyance of passengers or cargo. Additionally, these systems and methods typically require the rail vehicle to slowly travel over the tracks so that the visible markers can be examined.

[0004] Some rail vehicles include collision avoidance systems that seek to warn operators of the rail vehicles of foreign objects on the tracks ahead of the rail vehicles. These systems, however, may only include a camera that provides a video feed to an onboard operator. This operator manually inspects the video for any foreign objects and responds accordingly when a foreign object is identified by the operator. These types of systems are prone to human error.

[0005] Rail vehicles or other types of vehicles can operate according to automated safety systems that stop or slow down operations of the vehicles in certain locations. These systems may rely on databases that associate different locations of routes being traveled upon by the vehicles with different speed limits. If the vehicles travel in excess of these limits, then the systems may communicate signals to the vehicles that slow or stop the vehicles. Some known systems rely on human operators to generate and/or update the databases, which can be prone to error. As a result, the systems may not have correct information, which can permit vehicles to travel in excess of the limits in some locations. This can pose a significant safety risk.

[0006] These and other types of safety systems may include crossing systems that warn and/or block concurrent crossings of vehicles through an intersection between routes. For example, rail vehicle can travel on tracks that cross routes being traveled by other vehicles, such as automobiles. The safety systems can include gates, signals, or the like, at intersections between the tracks and the routes being traveled by the automobiles. Some of these systems may be unable to determine when the gates, signals, or the like, are not performing properly to stop or warn the other vehicles of an approaching rail vehicle at a crossing in certain situation, such as during power outages.

BRIEF DESCRIPTION

[0007] In one embodiment, a method (e.g., for examining a route) includes obtaining image data of a field of view of a camera disposed onboard a first vehicle as the first vehicle moves along a first route, and autonomously examining the image data onboard the first vehicle to identify one or more of a feature of interest or a designated object.

[0008] In another embodiment, a system (e.g., a route examination system) includes one or more image analysis processors configured to be disposed onboard a first vehicle as the first vehicle moves along a first route. The one or more image analysis processors also are configured to obtain image data of a field of view of a camera disposed onboard the first vehicle and to autonomously examine the image data onboard the first vehicle to identify one or more of a feature of interest or a designated object.

[0009] In another embodiment, another method (e.g., for examining a route) includes examining image data of a track having plural rails. The image data can be obtained from a camera onboard a vehicle moving along the track. The method also includes determining gauge distances of the track based at least in part on the image data, and identifying a segment of the track as having one or more damaged rails based on trends in the gauge distances of the track.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Reference is made to the accompanying drawings in which particular embodiments and further benefits of the invention are illustrated as described in more detail in the description below, in which:

Figure 1 is a schematic illustration of an optical route examination system in accordance with one embodiment;

Figures 2A and 2B illustrate one example of a camera-obtained image of a segment of the route shown in Figure 1;

Figures 3A and 3B illustrate another example of the image of the route shown in Figure 1;

Figure 4 illustrates another example of a benchmark visual profile;

Figures 5A and 5B illustrate a visual mapping diagram of the image shown in Figures 2A and 2B and the benchmark visual profile shown in Figures 3A and 3B according to one embodiment;

Figure 6 is a schematic diagram of an intersection between two or more routes according to one embodiment;

Figure 7 illustrates a flowchart of a method for examining a route from a vehicle as the vehicle is moving along the route;

Figure 8 is an overlay representation of three images acquired by one or more of the cameras shown in Figure 1 and overlaid on each other according to one embodiment;

Figure 9 illustrates a flowchart of a method for examining a route from a vehicle as the vehicle is moving along the route;

Figure 10 illustrates a camera-obtained image with benchmark visual profiles of the route according to one embodiment;

Figure 11 illustrates another camera-obtained image with benchmark visual profiles of the route according to one embodiment;

Figure 12 illustrates one example of gauge distances determined by an image analysis processor;

Figure 13 illustrates another example of gauge distances determined by the image analysis processor shown in Figure 1;

Figure 14 illustrates another example of gauge distances determined by the image analysis processor shown in Figure 1;

Figure 15 (comprising parts 15A and 15B) illustrates a flowchart of a method for identifying damage to a route according to one embodiment;

Figure 16 is a schematic illustration of an optical route examination system in accordance with another embodiment;

Figure 17 illustrates image data obtained by the route examination system shown in Figure 16 according to one example;

Figure 18 schematically illustrates examination of a sign shown in image data of Figure 17 and a memory structure created based at least in part on the examination of the sign according to one embodiment;

Figure 19 illustrates a flowchart of a method for identifying information shown on signs from image data according to one embodiment;

Figure 20 illustrates image data representative of a crossing according to one example; and

Figure 21 illustrates a flowchart of a method for examining wayside assets using image data according to one embodiment.

DETAILED DESCRIPTION

[0011] Embodiments of route examination systems and methods of operation are disclosed herein. The systems can be disposed onboard vehicles traveling along routes. During movement along the routes, cameras onboard the vehicles can obtain or generate image data of the routes and/or areas around the routes. This image data can be examined, onboard the vehicle, in order to identify features of interest and/or designated objects. By way of example, the features of interest can include gauge distances between two or more portions of the route. With respect to rail vehicles, the features of interest that are identified from the image data can include gauge distances between rails of the route. The designated objects can include wayside assets, such as safety equipment, signs, signals, switches, inspection equipment, or the like. The image data can be inspected automatically by the route examination systems to determine changes in the features of interest, designated objects that are missing, designated objects that are damaged or malfunctioning, and/or to determine locations of the designated objects. This automatic inspection may be performed without operator intervention. Alternatively, the automatic inspection may be performed with the aid and/or at the request of an operator.

[0012] One or more embodiments described herein include systems and methods for detecting damage to routes traveled by vehicles. The systems and methods can use analysis of images of the routes that are collected from cameras onboard the vehicles to detect damage to the routes. The systems and methods can detect misalignment of track traveled by rail vehicles. The systems and methods can use analysis of images of the track that are collected from a camera on the rail vehicle to detect this misalignment. Based on the detected misalignment, an operator of the rail vehicle can be alerted so that the operator can implement one or more responsive actions, such as by slowing down and/or stopping the rail vehicle. While the description herein focuses on rail vehicles and tracks having rails, one or more embodiments may apply to vehicles other than rail vehicles, such as other off-highway vehicles (e.g., vehicles that are not designed or permitted for travel on public roadways), automobiles, or the like. Additionally, one or more embodiments may apply to track having a different number of rails or routes other than tracks for rail vehicles, such as roads.

[0013] The images of the route can be captured from a camera mounted on a vehicle, such as a locomotive. The camera can be oriented toward (e.g., pointing toward) the track in the direction of motion of the rail vehicle. The camera can periodically (or otherwise) capture images of the track that are analyzed for misalignment. If the track is misaligned, the track can cause derailment of the rail vehicle. Some of the systems and methods described herein detect track misalignment in advance (e.g., before the rail vehicle reaches the misaligned track) and prevent derailment by warning the operator of the rail vehicle. Optionally, in an unmanned rail vehicle (e.g., one that operates automatically), the systems and methods may automatically slow or stop movement of the rail vehicle in response to identifying misaligned tracks.

[0014] Additionally or alternatively, when the misaligned section of the track is identified, one or more other responsive actions may be initiated. For example, a warning signal may be communicated (e.g., transmitted or broadcast) to one or more other rail vehicles to warn the other vehicles of the misalignment, a warning signal may be communicated to one or more wayside devices disposed at or near the track so that the wayside devices can communicate the warning signals to one or more other rail vehicles systems, a warning signal can be communicated to an off-board facility that can arrange for the repair and/or further examination of the misaligned segment of the track, or the like.

[0015] The track may be misaligned when the track is not in the same location as a previous location due to shifting or movement of the track. For example, instead of breaks, corrosion, or the like, in the track, misalignment of the track can result from lateral movement of the track and/or vertical movement of the track from a previous position, such as the positions of the track when the track was installed or previously examined.

[0016] In contrast to systems and methods that involve the use of a device that generates light to inspect a route, such as a laser light source that generates laser light onto a rail of a track and monitors the laser light to identify changes in a profile of the rail, one or more aspects of the systems and methods described herein rely on acquisition of image data without generating light or other energy onto the route. As described below, one or more systems and methods described herein can take still pictures and/or video of a route and compare these pictures and/or video to baseline image data. No light such as laser light is used to mark or otherwise examine the route in at least one embodiment.

[0017] Figure 1 is a schematic illustration of an optical route examination system 100 in accordance with one embodiment. The system 100 is disposed onboard a vehicle 102, such as a rail vehicle. The vehicle 102 can be connected with one or more other vehicles, such as one or more locomotives and rail cars, to form a consist that travels along a route 120, such as a track. Alternatively, the vehicle 102 may be another type of vehicle, such as another type of off-highway vehicle (e.g., a vehicle that is not designed or is not permitted to travel on public roadways), an automobile, or the like. In a consist, the vehicle 102 can pull and/or push passengers and/or cargo, such as in a train or other system of vehicles.

[0018] The system 100 includes one or more cameras 106 (e.g., cameras 106a, 106b) mounted or otherwise connected with the vehicle 102 so that the cameras 106 move with the vehicle 102 along the route 120. The cameras 106 may be forward facing cameras 106 in that the cameras 106 are oriented toward a direction of travel or movement 104 of the vehicle 102. For example, fields of view 108, 110 of the cameras 106 represent the space that is captured on images obtained by the cameras 106. In the illustrated example, the cameras 106 are forward facing in that the fields of view 108, 110 capture images and/or video of the space in front of the moving vehicle 102. The cameras 106 can obtain static (e.g., still) images and/or moving images (e.g., video). Optionally, one or more of the cameras 106 may be disposed inside the vehicle 102. For example, the vehicle 102 may include a cab camera 106 disposed inside an operator cab of the vehicle 102. Such a camera 106 can obtain images and/or video through a window of the vehicle 102, such as is described in U.S. Patent Application Serial No. 14/457,353 (with respect to the cameras 106), which was filed on 12 August 2014, is titled "Vehicle Imaging System And Method," and the entire disclosure of which is incorporated herein by reference.

[0019] The cameras 106 may obtain the images of the route 120 while the vehicle 102 is moving at relatively fast speeds. For example, the images may be obtained while the vehicle 102 is moving at or near an upper speed limit of the route 120, such as the track speed of the route 120 when maintenance is not being performed on the route 120 or the upper speed limit of the route 120 has not been reduced.

[0020] The cameras 106 operate based on signals received from a camera controller 112. The camera controller 112 includes or represents one or more hardware circuits or circuitry that includes and/or is coupled with one or more computer processors (e.g., microprocessors) or other electronic logic-based devices. The camera controller 112 activates the cameras 106 to cause the cameras 106 to obtain image data. This image data represents images of the fields of view 108, 110 of the cameras 106, such as images of one or more portions or segments of the route 120 disposed ahead of the vehicle 102. The camera controller 112 can change the frame rate of the cameras 106 (e.g., the speed or frequency at which the cameras 106 obtain images).

[0021] One or more image analysis processors 116 of the system 100 examine the images obtained by one or more of the cameras 106. The processors 116 can include or represent one or more hardware circuits or circuitry that includes and/or is coupled with one or more computer processors (e.g., microprocessors) or other electronic logic-based devices. In one aspect, the processor 116 examines the images by identifying which portions of the images represent the route 120 and comparing these portions to one or more benchmark images. Based on similarities or differences between one or more camera-obtained images and the benchmark image(s), the processor 116 can determine if the segment of the route 120 that is shown in the camera images is misaligned. Alternatively, the image analysis processor 116 can convert the image data to or generate the image data as wireframe model data, as described in U.S. Patent Application No. 14/253,294, which is titled "Route Damage Prediction System And Method" (the "'294 Application"), the entire disclosure of which is incorporated by reference in its entirety. The wireframe model data can be used to identify the location, shape, or the like, of the route 120.

[0022] Figures 2A and 2B illustrate one example of a camera-obtained image 200 of a segment of the route 120. As shown in Figures 2A and 2B, the image 200 may be a digital image formed from several pixels 202 of varying color and/or intensity. Pixels 202 with greater intensities may be lighter in color (e.g., more white) while pixels 202 with lesser intensities may be darker in color. In one aspect, the image analysis processor 116 (shown in Figure 1) examines the intensities of the pixels 202 to determine which portions of the image 200 represent the route 120 (e.g., rails 204 of the track). For example, the processor 116 may select those pixels 202 having intensities that are greater than a designated threshold, the pixels 202 having intensities that are greater than an average or median of several or all pixels 202 in the image 200, or other pixels 202 as representing locations of the route 120 (e.g., the rails 204 of a track). Alternatively, the processor 116 may use another technique to identify the rails 204 in the image 200.

[0023] Returning to the description of the system 100 shown in Figure 1, the image analysis processor 116 can select one or more benchmark visual profiles from among several such profiles stored in a computer readable memory, such as an image memory 118. The memory 118 includes or represents one or more memory devices, such as a computer hard drive, a CD-ROM, DVD ROM, a removable flash memory card, a magnetic tape, or the like. The memory 118 can store the images 200 (shown in Figures 2A and 2B) obtained by the cameras 106 and the benchmark visual profiles associated with a trip of the vehicle 102.

[0024] The benchmark visual profiles represent designated layouts of the route 120 that the route 120 is to have at different locations. For example, the benchmark visual profiles can represent the positions, arrangements, relative locations, of rails of the route 120 when the rails were installed, repaired, last passed an inspection, or otherwise.

[0025] In one aspect, a benchmark visual profile is a designated gauge (e.g., distance between rails of a track) of the route 120. Alternatively, a benchmark visual profile can be a previous image of the route 120 at a selected location. In another example, a benchmark visual profile can be a definition of where the route 120 (e.g., the rails of a track) are expected to be located in an image of the route 120. For example, different benchmark visual profiles can represent different shapes of the rails 204 (shown in Figures 2A and 2B) of a track at different locations along a trip of the vehicle 102 from one location to another.

[0026] The processor 116 can determine which benchmark visual profile to select in the memory 118 based on a location of the vehicle 102 when the image 200 is obtained. A vehicle controller 114 is used to manually and/or autonomously control movement of the vehicle 102, and can track where the vehicle 102 is located when the images 200 are obtained. For example, the vehicle controller 114 can include and/or be connected with a positioning system, such as a global positioning system, cellular triangulation system, or the like, to determine where the vehicle 120 is located. Optionally, the vehicle controller 114 can determine where the vehicle 102 is located based on how fast the vehicle 102 is traveling and has traveled on the route 120, how long the vehicle 102 has been moving, and the known layout of the route 120. For example, the vehicle controller 114 can calculate how far the vehicle 102 has moved from a known location (e.g., a starting location or other location).

[0027] The processor 116 can select the benchmark visual profile from the memory 118 that is associated with and represents a designated layout or arrangement of the route 120 at the location of the vehicle 102 when the image 200 is obtained. This designated layout or arrangement can represent the shape, spacing, arrangement, or the like, that the route 120 is to have for safe travel of the vehicle 120. For example, the benchmark visual profile can represent the gauge and alignment of the rails 204 of the track when the track was installed or last inspected.

[0028] In one aspect, the image analysis processor 116 can measure a gauge of the segment of the route 120 shown in the image 200 to determine if the route 120 is misaligned. Figures 3A and 3B illustrate another example of the image 200 of the route 120 shown in Figure 1. The image analysis processor 116 can examine the image 200 to measure a gauge distance 500 between the rails 204 of the route 120. In one aspect, the analysis processor 116 can measure a straight line or linear distance between one or more pixels 202 identified as representing one rail 204 to one or more other pixels 202 identified as representing another rail 204, as shown in Figures 3A and 3B. This distance represents the gauge distance 500 of the route 120. Alternatively, the distance between other pixels 202 may be measured. The processor 116 can determine the gauge distance 500 by multiplying the number of pixels 202 by a known distance that the width of each pixel 202 represents in the image 200, by converting the number of pixels 202 in the gauge distance 500 to length (e.g., in centimeters, meters, or the like) using a known conversion factor, by modifying a scale of the gauge distance 500 shown in the image 200 by a scaling factor, or otherwise. In one aspect, the image analysis processor 116 can convert the image data to or generate the image data as wireframe model data, as described in the '294 Application. The gauge distances 500 may be measured between the portions of the wireframe model data that represent the rails.

[0029] The measured gauge distance 500 can be compared to a designated gauge distance stored in the memory 118 for the imaged section of the route 120 (or stored elsewhere). The designated gauge distance can be a benchmark visual profile of the route 120, as this distance represents a designated arrangement or spacing of the rails 204 of the route 120. If the measured gauge distance 500 differs from the designated gauge distance by more than a designated threshold or tolerance, then the processor 116 can determine that the segment of the route 120 that is shown in the image 200 is misaligned. For example, the designated gauge distance can represent the distance or gauge of the route 120 when the rails 204 were installed or last passed an inspection. If the measured gauge distance 500 deviates too much from this designated gauge distance, then this deviation can represent a changing or modified gauge distance of the route 120.

[0030] Optionally, the processor 116 may measure the gauge distance 500 several times as the vehicle 102 travels and monitor the measured gauge distances 500 for changes. If the gauge distances 500 change by more than a designated amount, then the processor 116 can identify the upcoming segment of the route 120 as being potentially misaligned. As described below, however, the change in the measured gauge distance 500 alternatively may represent a switch in the route 120 that the vehicle 102 is traveling toward.

[0031] Measuring the gauge distances 500 of the route 102 can allow the image analysis processor 116 to determine when one or more of the rails 204 in the route 120 are misaligned, even when the segment of the route 120 includes a curve. Because the gauge distance 500 should be constant or substantially constant (e.g., within manufacturing tolerances), the gauge distance 500 should not significantly change in curved or straight sections of the route 120, unless the route 120 is misaligned.

[0032] In one embodiment, the image analysis processor 116 can monitor changes in the gauge distances 500 in order to determine if one or more rails 204 of the route 120 are misaligned. The image analysis processor 116 can track the gauge distances 500 to determine if the gauge distances 500 exhibit designated trends within a designated distance and/or amount of time. For example, if the gauge distances 500 increase over at least a first designated time period or distance and then decrease over at least a second designated time period, or decrease over at least the first designated time period or distance and then increase over a least the second designated time period, then the image analysis processor 116 may determine that the rails 204 are misaligned. Optionally, the image analysis processor 116 may determine that the rails 204 are misaligned responsive to the gauge distances 500 increasing then decreasing, or decreasing then increasing, as described above, within a designated detection time or distance limit.

[0033] Figure 12 illustrates one example of gauge distances 1200 determined by the image analysis processor 116 shown in Figure 1. The image analysis processor 116 can repeatedly determine the gauge distances 1200 from image data acquired while the vehicle 102 moves along the rails 204 of the route 120. If the rails 204 are not warped or bent relative to each other, then the gauge distances 1200 should remain constant or relatively constant (e.g., changes in the gauge distances 1200 attributable to noise in the system as opposed to damage to the rails 204). But, if one rail 204 is bent relative to the other rail 204, then the gauge distances 1200 may change as the vehicle 102 travels over the bent rail 204. For example, if one rail 204 is bent away from the other rail 204 (e.g., has a convex bend), then the gauge distances 1200 may increase and then decrease due to the bent rail 204 moving away from the other rail 204 and then toward the other rail 204. On the other hand, if one rail 204 is bent toward the other rail 204 (e.g., has a concave bend), then the gauge distances 1200 may decrease and then increase due to the bent rail 204 moving away from the other rail 204 and then away from the other rail 204.

[0034] Instead of or in addition to comparing the gauge distances 1200 to one or more thresholds to identify damage to the rails 204, the image analysis processor 116 may examine the gauge distances 1200 to determine if the gauge distances 1200 change over time or distance according to one or more predetermined trends or patterns.

[0035] In the illustrated example, the gauge distances 1200 are shown alongside a horizontal axis 1202 representative of time or distance along the route 120 and a vertical axis 1204 representative of different magnitudes (e.g., lengths) of the gauge distances 1200. The image analysis processor 116 can examine the gauge distances 1200 to determine if the gauge distances 1200 are increasing over at least a first designated time period or distance 1206 along the route 120. The image analysis processor 116 can determine that the gauge distances 1200 are increasing over the time period or distance 1206 by determining that an average, median, or moving average, or moving median of the gauge distances 1200 is increasing during the time period or distance 1206. Alternatively, image analysis processor 116 can determine that the gauge distances 1200 are increasing over the time period or distance 1206 by determining that a line of best fit, a linear regression, or other trend or pattern 1208 in the gauge distances 1200 increases for at least the time period or distance 1206. The time period or distance 1206 can be a variable that is adjusted to prevent noise in the system from being identified as an actual change in the gauge distance 1200. For example, noise may not cause the gauge distances 1200 to increase (or decrease) over a time period or distance that is at least as long as the time period or distance 1206, while an actual change in the gauge distance 1200 may increase (or decrease) over a time period or distance that is at least as long as the time period or distance 1206.

[0036] In one embodiment, the image analysis processor 116 can identify the segment of the route 120 that includes the rails 204 having the increasing trend or pattern over at least the time period or distance 1206 as being damaged. Alternatively, the image analysis processor 116 may continue to examine the gauge distances 1200 for additional changes. The gauge distances 1200 shown in Figure 12 exhibit a decreasing trend or pattern 1210 subsequent to the increasing trend or pattern 1208. The image analysis processor 116 can identify the decreasing trend or pattern 1210 similar to the manner in which the increasing trend or pattern 1208 is identified. Similar to the increasing trend or pattern 1208, the image analysis processor 116 may determine whether the decreasing trend or pattern 1210 continues for at least as long as a second designated distance or time period 1212. If the decreasing trend or pattern 1210 continues for at least as long as the second distance or time period 1212, then the image analysis processor 116 may determine that the decreasing trend or pattern 1210 indicates a change in the gauge distance 1200 and is not largely or solely due to noise. The time periods or distances 1206, 1212 may occur at different time or locations than what is shown in Figure 12. For example, the time period or distance 1206 may begin once the image analysis processor 116 determines that the gauge distances 1200 are increasing and the time period or distance 1212 may begin once the image analysis processor 116 determines that the gauge distances 1200 are decreasing. The time periods or distances 1206, 1212 may abut one another or be separated by larger times or distances than what is shown in Figure 12.

[0037] Figure 13 illustrates another example of gauge distances 1300 determined by the image analysis processor 116 shown in Figure 1. The gauge distances 1300 are shown alongside the horizontal axis 1202 and vertical axis 1204 described above. In contrast to the gauge distances 1200 shown in Figure 12, the gauge distances 1300 do not include increasing trends 1208 or decreasing trends 1210 that continue over at least designated time periods or distances 1206, 1212. Instead, any increasing or decreasing trends in the gauge distances 1300 occur over shorter time periods or distances. As a result, the image analysis processor 116 may not identify the increasing trend 1208 and/or the decreasing trend 1210 in the gauge distances 1300.

[0038] The lengths of time and/or distances over which the distances or time periods 1206, 1212 extend may be changed based on the amount of noise in the system. For example, as the measured changes in the gauge distances 1200, 1300 increase for reasons other than actual changes in the gauge distance 1200, 1300, the lengths of time and/or distances over which the distances or time periods 1206, 1212 extend may be increased to exclude noise from being identified as a bent rail 204. As another example, as the measured changes in the gauge distances 1200, 1300 decrease for reasons other than actual changes in the gauge distance 1200, 1300, the lengths of time and/or distances over which the distances or time periods 1206, 1212 extend may be shortened.

[0039] Returning to the description of the gauge distances 1200 shown in Figure 12, the image analysis processor 116 can determine that the gauge distance 1200 actually changed and that the rails 204 are bent or otherwise damaged responsive to identifying the increasing trend or pattern 1208 followed by the decreasing trend or pattern 1210. Optionally, the image analysis processor 116 can determine that the gauge distance 1200 actually changed and that the rails 204 are bent or otherwise damaged responsive to identifying the decreasing trend or pattern 1210 followed by the increasing trend or pattern 1208. In one embodiment, if the increasing trend 1208 is identified but is not followed by the decreasing trend 1210 (or the decreasing trend 1210 is not followed by the increasing trend 1208), then the image analysis processor 116 may not identify the route 120 as being damaged.

[0040] In one aspect, the image analysis processor 116 identifies the route 120 as being damaged responsive to identifying the increasing trend 1208 followed by the decreasing trend 1210 (or the decreasing trend 1210 followed by the increasing trend 1208) occurring within a designated time or distance limit 1214. Because at least some bends in the rails 204 of a route 120 are likely to occur over relatively short distances (e.g., several feet or meters), the image analysis processor 116 may not identify increasing and subsequent decreasing patterns 1208, 1210 (or decreasing and subsequent increasing patterns 1210, 1208) that occur over longer periods of time or distances than the limit 1214 as being representative of actual warping of the rails 204.

[0041] Figure 14 illustrates another example of gauge distances 1400 determined by the image analysis processor 116. The gauge distances 1400 are shown alongside the horizontal and vertical axes 1202, 1204 described above. As shown in Figure 14, the gauge distances 1400 exhibit an increasing trend or pattern 1408 followed by a decreasing trend or pattern 1410. The increasing trend 1408 continues for longer than the designated time period 1206 and the decreasing trend 1410 continues for longer than the designated time period 1212. The time period 1206 can begin when the image analysis processor 116 identifies the gauge distances 1400 as increasing and the time period 1212 can begin when the image analysis processor 116 identifies the gauge distances 1400 as decreasing. Alternatively, the image analysis processor 116 can identify the beginnings of the time periods 1206, 1212 in another manner.

[0042] But, both the increasing and decreasing trends 1408, 1410 do not occur within the designated time or distance limit 1214. For example, the time periods or distances over which each of the trends 1408, 1410 occur are temporally or spatially separated from each other by a sufficiently large time or distance that the total time encompassed by the time periods 1206, 1212 (e.g., the time or distance that extends from the beginning of the time period 1206 to the end of the time period 1212) is longer than the time or distance limit 1214. Because warps or misalignments in the rails 204 may occur over relatively short distances (e.g., a few feet or meters), the size of the time or distance limit 1214 can be set so that the limit 1214 filters out changes in the gauge distances 1400 that are not representative of warps or misalignments in the rails 204. For example, if the increasing trend 1408 followed by the decreasing trend 1410 (or the decreasing trend 1410 followed by the increasing trend 1408) are temporally or spatially spaced apart a relatively large distance (e.g., more than several feet or meters, or the amount of time encompassed by the vehicle traveling over several feet or meters), then the trends 1408, 1410 may not represent misalignment of the rails 204. Instead, the trends 1408, 1410 may be indicative of drift in the system or other measurement problems.

[0043] By way of example only, the limit 1214 may represent a spatial distance of two feet (e.g., 0.6 meters), four feet (e.g., 1.2 meters), ten feet (e.g., three meters), or another distance. Optionally, the limit 1214 may represent the amount of time required for the vehicle to travel over a similar distance, depending on how fast the vehicle is moving.

[0044] Returning to the description of the system shown in Figure 1, in one embodiment, because the camera faces forward along a direction of travel of the vehicle, the image analysis processor 116 can measure the gauge distances and identify bent or otherwise misaligned portions of the route 120 for upcoming segments of the route 120. If the image analysis processor 116 determines from examination of one or more images 200 that the upcoming segment of the route 120 that the vehicle 102 is traveling toward is misaligned, the image analysis processor 116 can communicate a warning signal to the vehicle controller 114. This warning signal can indicate to the vehicle controller 114 that an upcoming segment of the route 120 is misaligned. In response to this warning signal, the vehicle controller 114 may take one or more responsive actions. For example, the vehicle controller 114 may include an output device, such as a display, speaker, or the like, that visually and/or audibly warns an operator of the vehicle 102 of the upcoming misaligned segment of the route 120. The operator may then decide how to proceed, such as by slowing or stopping movement of the vehicle, or by communicating with an off-board repair or inspection facility to request further inspection and/or maintenance of the misaligned segment of the route 120. Optionally, the vehicle controller 114 may automatically implement the responsive action, such as by automatically slowing or stopping movement of the vehicle 102 and/or automatically communicating with the off-board repair or inspection facility to request further inspection and/or maintenance of the misaligned segment of the route 120.

[0045] Figure 15 illustrates a flowchart of a method 1500 for identifying damage to a route according to one embodiment. The method 1500 may be practiced by the system 100 shown in Figure 1 in one aspect. The method 1500 may be used to measure gauge distances of the route 120 (shown in Figure 1) to determine if the route 120 is damaged, such as with one of plural rails 204 (shown in Figure 2) being bent, warped, or otherwise misaligned relative to another rail 204 of the route 120. The method 1500 can represent operations that may be encoded in instructions stored on a memory device (e.g., the memory 118 shown in Figure 1, another memory that is accessible to the processor 116 shown in Figure 1, etc.) and/or hard-wired to the image analysis processor 116 to configure the system 100 to perform the operations described herein.

[0046] At 1502, image data representative of a route being traveled upon by a vehicle is obtained. As described above, this image data can be obtained by one or more cameras disposed inside of and/or outside of the vehicle. The image data can include still images, videos, wireframe models, or the like.

[0047] At 1504, gauge distance of the route is measured based at least in part on the image data. For example, the distance between portions of the image data representative of rails of the route can be measured and scaled to determine the lateral separation distance between the rails. The gauge distance can be tracked over time such that changes in the gauge distance can be identified at different locations and/or times during travel over the route.

[0048] At 1506, the measured gauge distances are examined to determine if the gauge distances are increasing (e.g., have an increasing trend). For example, the gauge distances may be examined to determine if, apart from and/or in addition to noise in the measurements of the gauge distances, the gauge distances are increasing at the vehicle moves along the route. If the gauge distances are increasing, then the increasing spacing between the rails may indicate damage to the route (e.g., bending or warping of at least one of the rails). As a result, flow of the method 1500 can continue to 1508. On the other hand, if the gauge distances are not increasing, then flow of the method 1500 can proceed to 1518, which is described below.

[0049] At 1508, the increasing trend in the gauge distances is examined to determine if the gauge distances are increasing for at least a first designated period of time and/or distance. The increasing trend can be compared to the designated period of time and/or distance to prevent temporary changes in the gauge distances caused by factors other than a bent or damaged rail from being misidentified as a bent or damaged rail. The designated distance can be six inches (e.g,. fifteen centimeters), nine inches (e.g., twenty-three centimeters), one foot (e.g., thirty centimeters), or another distance. The designated period of time can be the time required for the vehicle to travel over the designated distance based on the speed of the vehicle.

[0050] If the increasing trend in the gauge distances does last for at least as long as the first designated time and/or distance, then the increasing trend may be indicative of damage to the route. As a result, flow of the method 1500 can proceed to 1510. On the other hand, if the increasing trend does not last for at least as long as the first designated time and/or distance, then the increasing trend may be indicative of another factor, such as noise in the system. As a result, flow of the method 1500 can return to 1502.

[0051] At 1510, the measured gauge distances are examined to determine if the gauge distances are decreasing (e.g., have a decreasing trend) subsequent to the increasing trend. For example, the gauge distances may be examined to determine if, apart from and/or in addition to noise in the measurements of the gauge distances, the gauge distances are decreasing at the vehicle moves along the route and after the increasing trend is identified. If the gauge distances are decreasing after the increasing trend, then the decreasing spacing between the rails may indicate damage to the route (e.g., bending or warping of at least one of the rails back from the position associated with the increases in the gauge distance). As a result, flow of the method 1500 can continue to 1512. On the other hand, if the gauge distances are not decreasing, then flow of the method 1500 can return to 1502.

[0052] At 1512, the decreasing trend in the gauge distances is examined to determine if the gauge distances are decreasing for at least a second designated period of time and/or distance. The second designated period of time and/or distance may be the same as the first designated period of time and/or distance, or may be longer or shorter than the first designated period of time and/or distance. The decreasing trend can be compared to the designated period of time and/or distance to prevent temporary changes in the gauge distances caused by factors other than a bent or damaged rail from being misidentified as a bent or damaged rail. The designated distance can be six inches (e.g., fifteen centimeters), nine inches (e.g., twenty-three centimeters), one foot (e.g., thirty centimeters), or another distance. The designated period of time can be the time required for the vehicle to travel over the designated distance based on the speed of the vehicle.

[0053] If the decreasing trend in the gauge distances does last for at least as long as the second designated time and/or distance, then the decreasing trend may be indicative of damage to the route. As a result, flow of the method 1500 can proceed to 1514. On the other hand, if the decreasing trend does not last for at least as long as the second designated time and/or distance, then the decreasing trend may be indicative of another factor, such as noise in the system. As a result, flow of the method 1500 can return to 1502.

[0054] At 1514, a determination is made as to whether the first and second designated periods of time and/or distances (over which the increasing and decreasing trends occur) occur within a designated outer distance and/or time limit. The method 1500 can include this determination to ensure that the increasing and decreasing changes in the gauge distances occur relatively close to each other. If the increasing and decreasing changes do not occur relatively close to each other (e.g., within the designated limit), then the increasing and decreasing changes may not be indicative of damage to the route. As a result, flow of the method 1500 can return to 1502. On the other hand, if the increasing and decreasing changes do occur relatively close to each other (e.g., within the designated limit), then the increasing and decreasing changes may be indicative of damage to the route. As a result, flow of the method 1500 can proceed to 1516.

[0055] At 1516, the segment of the route where the changes in the gauge distances are identified is identified as a damaged section of the route. As described herein, one or more responsive or remedial actions may then be taken, such as by automatically slowing or stopping movement of the vehicle, communicating a signal to an off-board location that requests inspection, repair, or maintenance on the route, communicating a warning signal to one or more other vehicles, or the like. Additional image data of the route can continue to be obtained and examined to monitor the gauge distances and/or identify damaged sections of the route. For example, the method 1500 can return to 1502.

[0056] Returning to the description of the method 1500 at 1506, if an increasing trend in the gauge distances is not found, then flow of the method 1500 can proceed to 1518. At 1518, the measured gauge distances are examined to determine if the gauge distances are decreasing (e.g., have a decreasing trend). For example, after determining that the gauge distances do not have an increasing trend (which may result from one rail bending away from the other rail), the method 1500 may examine whether the gauge distances have a decreasing trend (which may result from one rail bending toward the other rail).

[0057] The gauge distances may be examined to determine if, apart from and/or in addition to noise in the measurements of the gauge distances, the gauge distances are decreasing at the vehicle moves along the route. If the gauge distances are decreasing, then the decreasing spacing between the rails may indicate damage to the route (e.g., bending or warping of at least one of the rails). As a result, flow of the method 1500 can continue to 1520. On the other hand, if the gauge distances are not decreasing, then flow of the method 1500 can return to 1502.

[0058] At 1520, the decreasing trend in the gauge distances is examined to determine if the gauge distances are decreasing for at least the second designated period of time and/or distance. As described herein, the decreasing trend can be compared to the designated period of time and/or distance to prevent temporary changes in the gauge distances caused by factors other than a bent or damaged rail from being misidentified as a bent or damaged rail. If the decreasing trend in the gauge distances does last for at least as long as the second designated time and/or distance, then the decreasing trend may be indicative of damage to the route. As a result, flow of the method 1500 can proceed to 1522. On the other hand, if the decreasing trend does not last for at least as long as the second designated time and/or distance, then the decreasing trend may be indicative of another factor, such as noise in the system. As a result, flow of the method 1500 can return to 1502.

[0059] At 1522, the measured gauge distances are examined to determine if the gauge distances are increasing (e.g., have an increasing trend) subsequent to the decreasing trend. If the gauge distances are increasing after the decreasing trend, then the increasing spacing between the rails may indicate damage to the route (e.g., bending or warping of at least one of the rails back from the position associated with the decreases in the gauge distance). As a result, flow of the method 1500 can continue to 1524. On the other hand, if the gauge distances are not increasing, then flow of the method 1500 can return to 1502.

[0060] At 1524, the increasing trend in the gauge distances is examined to determine if the gauge distances are increasing for at least the first designated period of time and/or distance, similar to as described above. The increasing trend can be compared to the designated period of time and/or distance to prevent temporary changes in the gauge distances caused by factors other than a bent or damaged rail from being misidentified as a bent or damaged rail. If the increasing trend in the gauge distances does last for at least as long as the first designated time and/or distance, then the increasing trend may be indicative of damage to the route. As a result, flow of the method 1500 can proceed to 1526. On the other hand, if the increasing trend does not last for at least as long as the first designated time and/or distance, then the increasing trend may be indicative of another factor, such as noise in the system. As a result, flow of the method 1500 can return to 1502.

[0061] At 1526, a determination is made as to whether the first and second designated periods of time and/or distances (over which the increasing and decreasing trends occur) occur within the designated outer distance and/or time limit. If the increasing and decreasing changes do not occur relatively close to each other (e.g., within the designated limit), then the increasing and decreasing changes may not be indicative of damage to the route. As a result, flow of the method 1500 can return to 1502. On the other hand, if the increasing and decreasing changes do occur relatively close to each other (e.g., within the designated limit), then the increasing and decreasing changes may be indicative of damage to the route. As a result, flow of the method 1500 can proceed to 1516, which is described above.

[0062] Figure 4 illustrates an example of a benchmark visual profile 300. The benchmark visual profile 300 represents a designated layout of the route 120 (shown in Figure 1), such as where the route 120 is expected to be in the images obtained by one or more of the cameras 106 (shown in Figure 1).

[0063] In the illustrated example, the benchmark visual profile 300 includes two designated areas 302, 304 that represent designated positions of rails of a track. The designated areas 302, 304 can represent where the pixels 202 (shown in Figures 2A and 2B) of the image 200 (shown in Figures 2A and 2B) that represent the rails 204 (shown in Figures 2A and 2B) should be located if the rails 204 are aligned properly. For example, the designated areas 302, 304 can represent expected locations of the rails 204 prior to obtaining the image 200. The rails 204 may be properly aligned when the rails 204 are in the same locations as when the rails 204 were installed or last passed an inspection of the locations of the rails 204, or at least within a designated tolerance. This designated tolerance can represent a range of locations that the rails 204 may appear in the image 200 due to rocking or other movements of the vehicle 102 (shown in Figure 1).

[0064] Optionally, the benchmark visual profile 300 may represent a former image of the route 120 obtained by a camera 106 on the same or a different vehicle 102. The designated areas 302, 304 can represent the locations of the pixels 202 in the former image that have been identified as representing the route 120 (e.g., the rails 204).

[0065] In one aspect, the image analysis processor 116 can map the pixels 202 representative of the route 120 (e.g., the rails 204) to the benchmark visual profile 300 or can map the designated areas 302, 304 of the benchmark visual profile 300 to the pixels 202 representative of the route 120. This mapping may include determining if the locations of the pixels 202 representative of the route 120 (e.g., the rails 204) in the image 200 are in the same locations as the designated areas 302, 304 of the benchmark visual profile 300.

[0066] Figures 5A and 5B illustrate a visual mapping diagram 400 of the image 200 and the benchmark visual profile 300 according to one example of the inventive subject matter described herein. The mapping diagram 400 represents one example of a comparison of the image 200 with the benchmark visual profile 300 that is performed by the image analysis processor 116 (shown in Figure 1). As shown in the mapping diagram 400, the designated areas 302, 304 of the benchmark visual profile 300 can be overlaid onto the image 200. The processor 116 can then identify differences between the image 200 and the benchmark visual profile 300. For example, the processor 116 can determine if the pixels 202 representing the route 120 (e.g., representing the rails 204) are disposed outside of the designated areas 302, 304. Optionally, the processor 116 can determine if locations of the pixels 202 representing the route 120 in the image 200 (e.g., coordinates of these pixels 202) are not located within the designated areas 302, 304 (e.g., are not coordinates located within outer boundaries of the designated areas 302, 304).

[0067] If the image analysis processor 116 determines that at least a designated amount of the pixels 202 representing the route 120 are outside of the designated areas 302, 304, then the processor 116 can identify the segment of the route 120 that is shown in the image 200 as being misaligned. For example, the processor 116 can identify groups 402, 404, 406 of the pixels 202 that represent the route 120 (e.g., the rails 204) as being outside of the designated areas 302, 304. If the number, fraction, percentage, or other measurement of the pixels 202 that are representative of the route 120 and that are outside the designated areas 302, 304 exceeds a designated threshold (e.g., 10%, 20%, 30%, or another amount), then the segment of the route 120 shown in the image 200 is identified as misaligned. On the other hand, if the number, fraction, percentage, or other measurement of the pixels 202 that are representative of the route 120 and that are outside the designated areas 302, 304 does not exceed the threshold, then the segment of the route 120 shown in the image 200 is not identified as misaligned.

[0068] During travel of the vehicle 102 over various segments of the route 120, the vehicle 102 may encounter (e.g., approach) an intersection between the segment of the route 120 being traveled upon and another route segment. In terms of rail vehicles, such an intersection can include a switch between two or more routes 120. Due to the arrangement of the rails 204 at a switch, the image analysis processor 116 may adapt the examination of the images 200 to determine if the rails 204 are misaligned.

[0069] Figure 6 is a schematic diagram of an intersection (e.g., switch) 600 between two or more routes 602, 604 according to one example of the inventive subject matter described herein. One or more, or each, of the routes 602, 604 may be the same as or similar to the route 120 shown in Figure 1.

[0070] If the image analysis processor 116 is measuring gauge distances 500 (shown in Figures 3A and 3B) to determine if the rails 204 of the routes 602, 604 are misaligned, then the image analysis processor 116 may identify decreasing gauge distances 500 as the vehicle 102 approaches the switch 600. For example, if the vehicle 102 is traveling toward the switch 600 on the route 602 along a first direction of travel 606, or the vehicle 102 is traveling toward the switch 600 on the route 604 along a second direction of travel 608, or the vehicle 102 is traveling toward the switch 600 on the route 602 along a third direction of travel 610, then the image analysis processor 116 may determine that the measured gauge distances 500 are decreasing, such as from the distances 500a to the shorter distances 500b, or to another distance.

[0071] Without knowing that the vehicle 102 is approaching the switch 600, the image analysis processor 116 may incorrectly identify the rails 204 as being misaligned based on this decrease in the gauge distances 500 that are measured. In one aspect, however, the vehicle controller 114 may determine when the vehicle 102 is approaching the switch 600 (e.g., based on the location of the vehicle 102 as determined by the controller 114 and the known locations of the switch 600, such as from a map or track database that provides switch locations) and notify the image analysis processor 116. The image analysis processor 116 may then ignore the decreasing gauge distances 500 until the vehicle 102 has passed through or over the switch 600, such as by not implementing one or more responsive actions described above in response to the measured gauge distances 500 decreasing.

[0072] Alternatively, the image analysis processor 116 may obtain one or more benchmark visual profiles from the memory 118 (shown in Figure 1) that represent the routes at or near the switch 600. Instead of representing parallel rails 204, these benchmark visual profiles can represent the arrangement of the rails 204 in the switch 600. The image analysis processor 116 may then compare the images of the route approaching the switch 600 to the benchmark visual profiles to determine if the route at or near the switch 600 is misaligned.

[0073] Optionally, the image analysis processor 116 may determine that the vehicle 102 is approaching the switch 600 based on the images obtained of the route approaching the switch 600. For example, the distances between the rails 204 of different routes 602, 604 approaching the switch 600 (e.g., the gauge distances 500b) may be stored in the memory 118 as benchmark visual profiles. When the image analysis processor 116 determines that the gauge distances 500 being measured from the images of the route 602 or 604 are the same or similar to the stored gauge distances, then the image analysis processor 116 may determine that the vehicle 102 is approaching the switch 600. The image analysis processor 116 may be used to determine when the vehicle 102 approaches a switch 600 in order to confirm a location of the vehicle 102 as determined by the vehicle controller 114, to assist in locating the vehicle 102 when the controller 114 cannot determine the location of the vehicle 102, and so on.

[0074] In one aspect, the image analysis processor 116 may create a benchmark visual profile from the image data that is obtained from the camera. For example, the image analysis processor 116 may not have access to a benchmark visual profile, the section of the route being examined may not be associated with a benchmark visual profile, or the like. The image analysis processor 116 can use the image data to create a benchmark visual profile "on-the-fly," such as by creating the benchmark visual profile as the image data is obtained. The benchmark visual profile can then be used to examine the image data from which the benchmark visual profile was created to identify problems with the route.

[0075] Figure 10 illustrates a camera-obtained image 1000 with benchmark visual profiles 1002, 1004 of the route 120 according to another example of the inventive subject matter described herein. The benchmark visual profiles 1002, 1004 are created by the image analysis processor 116 (shown in Figure 1) from the image data used to create the image 1000. For example, the image analysis processor 116 can examine intensities of the pixels to determine the location of the route 120, as described above. Within the location of the route 120, the image analysis processor 116 can find two or more pixels having the same or similar (e.g., within a designated range of each other) intensities. Optionally, the image analysis processor 116 may identify many more pixels with the same or similar intensities.

[0076] The image analysis processor 116 then determines a relationship between these pixels. For example, the image analysis processor 116 may identify a line between the pixels in the image 1000 for each rail 204. These lines represent the benchmark visual profiles 1002, 1004. The image analysis processor 116 can then determine if other pixels representative of the rails 204 of the route 120 are on or within the benchmark visual profiles 1002, 1004 (e.g., within a designated distance of the benchmark visual profiles 1002, 1004, or if these pixels are outside of the benchmark visual profiles 1002, 1004. In the illustrated example, most or all of the pixels representative of the rails 204 of the route 120 are on or within the benchmark visual profiles 1002, 1004.

[0077] Figure 11 illustrates another camera-obtained image 1100 with benchmark visual profiles 1102, 1104 of the route 120 according to another example of the inventive subject matter described herein. The benchmark visual profiles 1102, 1104 may be created using the image data used to form the image 1100, as described above in connection with Figure 10. In contrast to the image 1000 shown in Figure 10, however, a segment 1106 of the route 120 does not fall on or within the benchmark visual profile 1104. This segment 1106 curves outward and away from the benchmark visual profile 1104. The image analysis processor 116 can identify this segment 1106 because the pixels having intensities that represent the rail 204 are no longer on or in the benchmark visual profile 1104. Therefore, the image analysis processor 116 can identify the segment 1106 as a misaligned segment of the route 120.

[0078] In one aspect, the image analysis processor 116 can use a combination of techniques described herein for examining the route. For example, if both rails 202, 204 of a route 120 are bent or misaligned from previous positions, but are still parallel or substantially parallel to each other, then the gauge distance between the rails 202, 204 may remain the same or substantially the same, and/or may not substantially differ from the designated gauge distance 500 of the route 120. As a result, only looking at the gauge distance in the image data may result in the image analysis processor 116 failing to identify damage (e.g., bending) to the rails 202, 204. In order to avoid this situation, the image analysis processor 116 additionally can generate the benchmark visual profiles 1102, 1104 using the image data and compare these profiles to the image data of the rails, as described above in connection with Figures 10 and 11. Bending or other misalignment of the rails 202, 204 may then be identified when the bending in the rails 202, 204 deviates from the benchmark visual profile created from the image data.

[0079] Figure 7 illustrates a flowchart of a method 700 for examining a route from a vehicle as the vehicle is moving along the route. The method 700 can be performed by one or more embodiments of the route examining system 100 (shown in Figure 1). At 702, an image of the route is obtained from one or more cameras of the vehicle. The image can be obtained of a segment of the route that is ahead of the vehicle along a direction of travel of the vehicle (e.g., the vehicle is moving toward the segment being imaged).

[0080] At 704, a benchmark visual profile of the route is selected based on the location of the segment of the route that was imaged. As described above, the benchmark visual profile can represent a designated gauge distance of the route, a previous image of the route, a spatial representation of where the route is expected to be located or previously was located, or the like.

[0081] At 706, the image is compared to the benchmark visual profile. For example, the gauge of the rail in an image of the route may be measured and compared to the designated gauge of the benchmark visual profile. Optionally, the location of rails in the image may be determined and compared to locations of rails in a previous image of the route. In one aspect, the location of rails in the image are determined and compared to designated areas of the benchmark visual profile.

[0082] At 708, a determination is made as to whether there are differences between the image of the route and the benchmark visual image. For example, a determination may be made as to whether the gauge distance measured from the image is different from the designated gauge distance of the benchmark visual profile. Additionally or alternatively, a determination may be made as to whether the locations of the rails in the image are different from the locations of the rail in a previous image of the route. Optionally, a determination may be made as to whether the locations of the rails in the image are outside of designated areas in the benchmark visual profile. If one or more of these differences are identified, then the difference may indicate that the route (e.g., one or more of the rails) has become misaligned, such as by bending, moving relative to the ground or underlying ballast material, breaking, or the like.

[0083] If one or more differences between the image and the benchmark visual profile are identified, then the route may be misaligned from a previous or designated position. As a result, flow of the method 700 can proceed to 710. On the other hand, if no differences are identified, or if the differences are relatively small or minor, then the route may still be in the same alignment as a previous or designated position (or has moved a relatively small amount). As a result, the vehicle can continue traveling along the upcoming segment of the route, and the method 700 can return to 702.

[0084] At 710, the segment of the route in the image is identified as being misaligned. At 712, one or more responsive actions may be implemented, such as by communicating a warning signal to one or more other rail vehicles to warn the other vehicles of the misalignment, communicating a warning signal to one or more wayside devices disposed at or near the track so that the wayside devices can communicate the warning signals to one or more other rail vehicles systems, communicating a warning signal to an off-board facility, automatically slowing or stopping movement of the vehicle, notifying an onboard operator of the misalignment, or the like. Depending on whether the vehicle can continue moving along the route, flow of the method 700 may return to 702.

[0085] In another aspect of the inventive subject matter described herein, the optical route examining system and method may use plural cameras mounted in front of the vehicle and oriented toward (e.g., facing) the route being traveled on. The cameras capture images at a relatively high (e.g., fast) frame rate so as to give a static, stable image of the route. Using plural acquired images, the images are analyzed so that obstacles (e.g., pedestrians, cars, trees, and the like) are identified and/or highlighted. The system and method can warn or provide an indication to the operator of the vehicle of the obstacle to trigger a braking action (manually or autonomously). In the event that the operator does not take action to slow down or apply the brakes of the vehicle, then the brakes may be automatically applied without operator intervention.

[0086] The cameras can capture the images at a relatively high frame rate (e.g., at a relatively fast frequency) so as to give static, stable images of the upcoming portion of the route being traveled upon. There may be a temporal delay or lag (e.g., of a few milliseconds) between the capture times for the images obtained by the different cameras. In one aspect, the images captured from different cameras in same time frame (e.g., within the same relatively short time frame) are compared to identify foreign objects on or near the upcoming segment of the route. Feature detection algorithms can be used to identify significant features on the images, such as people, birds, cars, other vehicles (e.g., locomotives), and the like. In one aspect, the images are analyzed to identify a depth of a foreign object, which can be used to estimate a size of the foreign object and/or to identify the foreign object. Using a difference technique, non-stable obstacles like snow, rain, pebbles, and the like, can be eliminated or ignored. Major obstacles such as cars, pedestrians on the track, and the like, can be identified or highlighted, and used to alert the operator of the vehicle of the presence of the major obstacle.

[0087] Currently, train operators may not receive sufficiently early warnings or identifications of obstacles on an upcoming segment of the track in different weather conditions. Even the operators are able to see the obstacle, the obstacle may not be seen in time to allow the operator to apply the brakes and stop the train (or other vehicle) before collision with the obstacle. If the advanced image capture and analysis techniques descried herein can detect far-away obstacles early enough, collisions with the obstacles can be avoided.

[0088] Returning to the description of the route examining system 100 shown in Figure 1, one or more of the cameras 106 can obtain several images 200 of an upcoming segment of the route 120 during movement of the vehicle 102 along the route 120. The description below focuses on two or more cameras 106 obtaining the images 200, but optionally, only one of the cameras 106 may obtain the images 200. The image analysis processor 116 may control the cameras 106 to acquire the images 200 at relatively fast frame rates, such as at least by obtaining 300 images per second per camera, 120 images per second per camera, 72 images per second per camera, 48 images per second per camera, 24 images per second per camera, or another rate.

[0089] The image analysis processor 116 then compares the images obtained by one or more of the cameras 106 to identify differences in the images. These differences can represent transitory foreign objects or persistent foreign objects on or near the segment of the route 120 that the vehicle 102 is traveling toward. A transitory foreign object is an object that is moving sufficiently fast that the object will not interfere or collide with the vehicle 102 when the vehicle 102 reaches the foreign object. A persistent foreign object is an object that is stationary or moving sufficiently slow that the vehicle 102 will collide with the foreign object when the vehicle 102 reaches the foreign object.

[0090] Figure 8 is an overlay representation 800 of three images acquired by one or more of the cameras 106 and overlaid on each other according to one example of the inventive subject matter described herein. The overlay representation 800 represents three images of the same segment of the route 120 taken at different times by one or more of the cameras 106 and combined with each other. The image analysis processor 116 may or may not generate such an overlay representation when examining the images for a foreign object.

[0091] As shown in the representation 800, the route 120 is a persistent object in that the route 120 remains in the same or substantially same location in the images obtained at different times. This is because the route 120 is not moving laterally relative to the direction of travel of the vehicle 102 (shown in Figure 1) as the vehicle 102 travels along the route 120. The image analysis processor 116 can identify the route 120 by examining intensities of pixels in the images, as described above, or using another technique.

[0092] Also as shown in the representation 800, a foreign object 802 appears in the images. The image analysis processor 116 can identify the foreign object 802 by examining intensities of the pixels in the images (or using another technique) and determining that one or more groups of pixels having the same or similar (e.g., within a designated range) of intensities appear in locations of the images that are close to each other. Optionally, the image analysis processor 116 can compare one or more of the images acquired by the one or more cameras 106 and compare the images to one or more benchmark visual profile, similar to as described above. If differences between the images and the benchmark visual images are identified, then the image analysis processor 116 may identify these differences as being representative of the foreign object 802. For example, if a benchmark visual profile represents only the rails 204, but the rails 204 and another object appear in an image, then the image analysis processor 116 can identify the other object as the foreign object 802. In one aspect, the image analysis processor 116 is able to distinguish between the route 120 (e.g., the rails 204) and the foreign object 802 due to the different shapes and/or sizes of the route 120 and the foreign object 802.

[0093] Once the foreign object 802 is identified, the image analysis processor 116 can direct one or more of the cameras 106 to zoom in on the foreign object 802 and obtain one or more magnified images. For example, the initial identification of the foreign object 802 may be confirmed by the image analysis processor 116 directing the cameras 106 to magnify the field of view of the cameras 106 and to acquire magnified images of the foreign object 802. The image analysis processor 116 may again examine the magnified images to confirm the presence of the foreign object 802, or to determine that no foreign object 802 is present.

[0094] The image analysis processor 116 may examine a sequence of two or more of the images (e.g., magnified images or images acquired prior to magnification) to determine if the foreign object 802 is a persistent object or a transitory object. In one aspect, if the foreign object 802 appears in and is identified by the processor 116 in at least a designated number of images within a designated time period, then the foreign object 802 is identified by the processor 116 as a persistent object. The appearance of the foreign object 802 in the designated number of images (or a greater amount of images) for at least the designated time period indicates that the foreign object 802 is located on or near the upcoming segment of the route 120, and/or likely will remain on or near the route 120.

[0095] For example, a bird flying over the route 120, precipitation falling onto the route 120, and the like, may appear in one or more of the images acquired by the cameras 106. Because these foreign objects 802 tend to move fairly fast, these foreign objects 802 are less likely to be present in the images for more than the designated number of images during the designated period of time. As a result, the image analysis processor 116 does not identify these types of foreign objects 802 as persistent objects, and instead ignores these foreign objects or identifies the foreign objects as transient objects.

[0096] As another example, a person standing or walking over the route 120, a car parked or slowly moving over the route 120, and the like, may appear in images acquired by the cameras 106 over a longer period of time than flying birds or falling precipitation. As a result, the person or car may appear in at least the designated number of images for at least the designated time period. The image analysis processor 116 identifies such foreign objects as persistent objects.

[0097] In response to identifying a foreign object as a persistent object, the image analysis processor 116 may implement one or more mitigating actions. For example, the image analysis processor 116 can generate a warning signal that is communicated to the vehicle controller 114 (shown in Figure 1). This warning signal may cause one or more alarms to sound, such as an internal and/or external siren to generate an audible warning or alarm that the vehicle 102 is approaching the persistent object. Optionally, the warning signal may generate a visual or other alarm to an operator of the vehicle 102 to notify the operator of the persistent object. Additionally or alternatively, the warning signal may cause the vehicle controller 114 to automatically apply brakes of the vehicle 102. In one aspect, the warning signal may cause the vehicle controller 114 to communicate a signal to a switch or other wayside device that controls a switch, so that the switch is automatically changed to cause the vehicle 102 to leave the currently traveled route 102 (on which the persistent object is detected) and to move onto another, different route to avoid colliding with the persistent object.

[0098] In one example of the inventive subject matter described herein, the image analysis processor 116 can determine a moving speed of the persistent object and determine which mitigating action, if any, to implement. In the example shown in Figure 8, the foreign object 802 appears in different locations of the images relative to the route 120. For example, in a first image, the foreign object 802 appears at a first location 804, in a subsequent, second image, the foreign object 802 appears at a different, second location 806, and in a subsequent, third image, the foreign object 802 appears at a different, third location 808.

[0099] The image analysis processor 116 can identify the changing positions of the foreign object 802 and estimate a moving speed of the foreign object 802. For example, the image analysis processor 116 can control the frame rate of the cameras 106, and therefore can know the length of time between when consecutive images were acquired. The image analysis processor 116 can measure the changes in positions of the foreign object 802 between the different locations 804, 806, 808, and so on, and scale these changes in positions to an estimated distance that the foreign object 802 has moved between the images. For example, the image analysis processor 116 can estimate the distance in a manner similar to measuring the gauge distance 500 shown in Figures 3A and 3B. Instead of measuring the distance between rails 204, however, the image analysis processor 116 is estimating the movement distance of the foreign object 802.

[0100] The image analysis processor 116 can estimate the moving speed at which the foreign object 802 is moving using the changes in positions divided by the time period between when the images showing the different positions of the foreign object 802 were acquired. If the foreign object 802 is moving slower than a designated speed, then the image analysis processor 116 may determine that the foreign object 802 is unlikely to clear the route 120 before the vehicle 102 reaches the foreign object 802. As a result, the image analysis processor 116 may generate a warning signal for the vehicle controller 114 that requests a more immediate response, such as by immediately actuating the brakes of the vehicle 102 (e.g., to a full or sufficiently large extent to slow and stop movement of the vehicle 102). If the foreign object 802 is moving at least as fast as the designated speed, then the image analysis processor 116 may determine that the foreign object 802 is more likely to clear the route 120 before the vehicle 102 reaches the foreign object 802. As a result, the image analysis processor 116 may generate a warning signal for the vehicle controller 114 that requests a less immediate response, such as by activating a warning siren, automatically reducing the throttle level, and/or automatically slowing (but not stopping) the vehicle 102 by applying the brakes.

[0101] In one embodiment, the image analysis processor 116 can use images obtained by two or more cameras 106 to confirm or refute the potential identification of a persistent object on or near the route 120. For example, the processor 116 can examine a first set of images from one camera 106a and examine a second set of images from another camera 106b to determine if the persistent object is identified in both the first set of images and the second set of images. If the persistent object is detected from both sets of images, then the image analysis processor 116 may determine which mitigating action to implement, as described above.

[0102] The image analysis processor 116 can examine the images obtained by the two or more cameras 106 to estimate a depth of the foreign object 802. For example, the images acquired at the same time or approximately the same time by different, spaced apart cameras 106 may provide a stereoscopic view of the foreign object 802. Due to the slightly different fields of view of the cameras 106, the images that are obtained at the same time or nearly the same time may have slight differences in the relative location of the foreign object 802, even if the foreign object 802 is stationary. For example, the foreign object 802 may appear slightly to one side of the image acquired by one camera 106a than in the image acquired by another camera 106b. The image analysis processor 116 can measure these differences (e.g., by measuring the distances between common pixels or portions of the foreign object 802) and estimate a depth of the foreign object 802 (e.g., the distance between opposite sides of the foreign object 802 along a direction that is parallel or coaxial with the direction of travel of the vehicle 102). For example, larger depths may be estimated when these differences are larger than when the differences are smaller.

[0103] The image analysis processor 116 may use the estimated depth to determine which mitigating action to implement. For example, for larger estimated depths, the image analysis processor 116 may determine that the foreign object 802 is larger in size than for smaller estimated depths. The image analysis processor 116 may request more severe mitigating actions for larger estimated depths and less severe mitigating actions for smaller estimated depths.

[0104] Additionally or alternatively, the image analysis processor 116 may examine the two dimensional size of an identified foreign object 802 in one or more of the images to determine which mitigating action to implement. For example, the image analysis processor 116 can measure the surface area of an image that represents the foreign object 802 in the image. The image analysis processor 116 can combine this two dimensional size of the foreign object 802 in the image with the estimated depth of the foreign object 802 to determine a size index of the foreign object 802. The size index represents how large the foreign object 802 is. Optionally, the size index may be based on the two dimensional size of the imaged foreign object 802, and not the estimated depth of the foreign object 802.

[0105] The image analysis processor 116 may use the size index to determine which mitigating action to implement. The image analysis processor 116 may request more severe mitigating actions for larger size indices and less severe mitigating actions for smaller size indices.

[0106] The image analysis processor 116 can compare the two dimensional areas and/or estimated depths of the foreign object 802 to one or more object templates to identify the foreign object 802. The object templates may be similar to the designated areas 302, 304 shown in the benchmark visual image 300 in Figures 5A and 5B. As described above, the designated areas 302, 304 represent where properly aligned rails 204 are expected to be located in an image. Similar designated areas can represent shapes of other objects, such as pedestrians, automobiles, livestock, or the like. The image analysis processor 116 can compare the size and/or shape of the foreign object 802 in one or more images with the size and/or shape of one or more designated areas (e.g., object templates) that represent one or more different foreign objects. If the size and/or shape of the foreign object 802 is the same as or similar to (e.g., within a designated tolerance), then the image analysis processor 116 can identify the foreign object 802 in the image as the same foreign object represented by the object template.

[0107] The image analysis processor 116 may use the identification of the foreign object 802 to determine which mitigating action to implement. For example, if the foreign object 802 is identified as an automobile or pedestrian, the image analysis processor 116 may request more severe mitigating actions than if the foreign object 802 is identified as something else, such as livestock.

[0108] In one aspect, the image analysis processor 116 stores one or more of the images in the memory 118 and/or communicates the images to an off-board location. The images may be retrieved from the memory 118 and/or from the off-board location, and compared with one or more images of the same segments of the route 120 obtained by the same vehicle 102 at a different time and/or by one or more other vehicles 102 at other times. Changes in the images of the route 120 may be used to identify degradation of the route 102, such as by identifying wear and tear in the route 120, washing away of ballast material beneath the route 120, or the like, from changes in the route 120 over time, as identified in the images.

[0109] Figure 9 illustrates a flowchart of a method 900 for examining a route from a vehicle as the vehicle is moving along the route. The method 900 can be performed by one or more embodiments of the route examining system 100 (shown in Figure 1). At 902, plural images of the route are obtained from one or more cameras of the vehicle. The images can be obtained of a segment of the route that is ahead of the vehicle along a direction of travel of the vehicle (e.g., the vehicle is moving toward the segment being imaged).

[0110] At 904, the images are examined to determine if a foreign object is present in one or more of the images. For example, intensities of the pixels in the images can be examined to determine if a foreign object is on or near the segment of the route being approached by the vehicle.

[0111] At 906, a determination is made as to whether a foreign object is identified in the image. For example, if the image is compared to a previous image or other benchmark visual profile, and the shape of an object appears in the current image, but not the previous image or the other benchmark visual profile, then the object may represent a foreign object. As a result, the foreign object is identified in the image, and flow of the method 900 can proceed to 908. On the other hand, if no foreign object is identified in the image, then flow of the method 900 can return to 902.

[0112] In one aspect, the presence of the foreign object may be determined by examining a first set of images acquired by a first camera and a second set of images acquired by a second camera. If the foreign object is identified in the first set of images and the foreign object is identified in the second set of images, then flow of the method 900 can proceed to 908. Otherwise, flow of the method 900 can return to 902.

[0113] In one aspect, the presence of the foreign object may be determined by examining different images acquired at different magnification levels. For example, if the foreign object is identified in one or more images obtained at a first magnification level, the camera may zoom into the foreign object and acquire one or more images at an increased second magnification level. The images at the increased magnification level can be examined to determine if the foreign object appears in the images. If the foreign object is identified in the magnified second, then flow of the method 900 can proceed to 908. Otherwise, flow of the method 900 can return to 902.

[0114] At 910, a determination is made as to whether the foreign object is a persistent object or a transitory object. As described above, a sequential series of two or more images of the route can be examined to determine if the foreign object is present in the images. If the foreign object does appear in at least a designated number of the images for at least a designated time period, then the foreign object may be identified as a persistent object, as described above. As a result, one or more mitigating actions may need to be taken to avoid colliding with the foreign object, and flow of the method 900 can proceed to 912.

[0115] On the other hand, if the foreign object does not appear in at least the designated number of the images for at least the designated time period, then the foreign object may be a transitory object, and may not be identified as a persistent object, as described above. As a result, one or more mitigating actions may not need to be taken as the foreign object may not be present when the vehicle reaches the location of the foreign object. Flow of the method 900 can then return to 902.

[0116] At 912, one or more mitigating actions may be taken. For example, the operator of the vehicle may be warned of the presence of the foreign object, an audible and/or visual alarm may be activated, the brakes of the vehicle may be automatically engaged, the throttle of the vehicle may be reduced, or the like. As described above, the size, depth, and/or identity of the foreign object may be determined and used to select which of the mitigating actions is implemented.

[0117] In one example of the inventive subject matter described herein, a method (e.g., for optically examining a route such as a track) includes obtaining one or more images of a segment of a track from a camera mounted to a rail vehicle while the rail vehicle is moving along the track and selecting (with one or more computer processors) a benchmark visual profile of the segment of the track. The benchmark visual profile represents a designated layout of the track. The method also can include comparing (with the one or more computer processors) the one or more images of the segment of the track with the benchmark visual profile of the track and identifying (with the one or more computer processors) one or more differences between the one or more images and the benchmark visual profile as a misaligned segment of the track.

[0118] In one aspect, the one or more images of the segment of the track are compared to the benchmark visual profile by mapping pixels of the one or more images to corresponding locations of the benchmark visual profile and determining if the pixels of the one or more images that represent the track are located in common locations as the track in the benchmark visual profile.

[0119] In one aspect, the method also includes identifying portions of the one or more images that represent the track by measuring intensities of pixels in the one or more images and distinguishing the portions of the one or more images that represent the track from other portions of the one or more images based on the intensities of the pixels.

[0120] In one aspect, the benchmark visual profile visually represents locations where the track is located prior to obtaining the one or more images.

[0121] In one aspect, the method also includes measuring a distance between rails of the track by determining a number of pixels disposed between the rails in the one or more images.

[0122] In one aspect, the method also includes comparing the distance with a designated distance to identify a changing gauge of the segment of the track.

[0123] In one aspect, the method also includes identifying a switch in the segment of the track by identifying a change in the number of pixels disposed between the rails in the one or more images.

[0124] In one aspect, the method also includes creating the benchmark visual profile from at least one image of the one or more images that are compared to the benchmark visual profile to identify the one or more differences.

[0125] In one aspect, the method also includes comparing the one or more images of the segment of the track with one or more additional images of the segment of the track obtained by one or more other rail vehicles at one or more other times in order to identify degradation of the segment of the track.

[0126] In one aspect, the one or more images of the segment of the track are obtained while the rail vehicle is traveling at an upper speed limit of the segment of the track (e.g., track speed).

[0127] In another example of the inventive subject matter described herein, a system (e.g., an optical route examining system) includes a camera and one or more computer processors. The camera is configured to be mounted to a rail vehicle and to obtain one or more images of a segment of a track while the rail vehicle is moving along the track. The one or more computer processors are configured to select a benchmark visual profile of the segment of the track that represents a designated layout of the track. The one or more computer processors also are configured to compare the one or more images of the segment of the track with the benchmark visual profile of the track to identify one or more differences between the one or more images and the benchmark visual profile as a misaligned segment of the track.

[0128] In one aspect, the one or more computer processors are configured to compare the one or more images of the segment of the track to the benchmark visual profile by mapping pixels of the one or more images to corresponding locations of the benchmark visual profile and determining if the pixels of the one or more images that represent the track are located in common locations as the track in the benchmark visual profile.

[0129] In one aspect, the one or more computer processors are configured to identify portions of the one or more images that represent the track by measuring intensities of pixels in the one or more images and to distinguish the portions of the one or more images that represent the track from other portions of the one or more images based on the intensities of the pixels.

[0130] In one aspect, the benchmark visual profile visually represents locations where the track is located prior to obtaining the one or more images.

[0131] In one aspect, the one or more computer processors also are configured to measure a distance between rails of the track by determining a number of pixels disposed between the rails in the one or more images.

[0132] In one aspect, the one or more computer processors are configured to compare the distance with a designated distance to identify a changing gauge of the segment of the track.

[0133] In one aspect, the one or more computer processors are configured to identify a switch in the segment of the track by identifying a change in the number of pixels disposed between the rails in the one or more images.

[0134] In one aspect, the one or more computer processors are configured to create the benchmark visual profile from at least one image of the one or more images that are compared to the benchmark visual profile to identify the one or more differences.

[0135] In one aspect, the one or more computer processors are configured to compare the one or more images of the segment of the track with one or more additional images of the segment of the track obtained by one or more other rail vehicles at one or more other times in order to identify degradation of the segment of the track.

[0136] In one aspect, the camera is configured to obtain the one or more images of the segment of the track and the one or more computer processors are configured to identify the misaligned segment of the track while the rail vehicle is traveling at an upper speed limit of the segment of the track.

[0137] In another example of the inventive subject matter described herein, a method (e.g., an optical route examining method) includes obtaining plural first images of an upcoming segment of a route with one or more cameras on a vehicle that is moving along the route, examining the first images with one or more computer processors to identify a foreign object on or near the upcoming segment of the route, identifying one or more differences between the first images with the one or more processors, determining if the foreign object is a transitory object or a persistent object based on the differences between the first images that are identified, and implementing one or more mitigating actions responsive to determining if the foreign object is the transitory object or the persistent object.

[0138] In one aspect, the method also includes increasing a magnification level of the one or more cameras to zoom in on the foreign object and obtaining one or more second images of the foreign object. The foreign object can be determined to be the persistent object responsive to a comparison between the first images and the one or more second images.

[0139] In one aspect, the first images are obtained at different times, and implementing the one or more mitigating actions includes prioritizing the one or more mitigating actions based on the differences in the first images obtained at the different times.

[0140] In one aspect, the method also includes calculating a depth of the foreign object and a distance from the vehicle to the foreign object based on comparisons of the first images and the second images.

[0141] In one aspect, implementing the one or more mitigating actions is performed based on whether the foreign object is the persistent object or the transitory object, a depth of the foreign object that is calculated by the one or more computer processors from the differences between the first images, and a distance from the vehicle to the foreign object that is calculated by the one or more computer processors from the differences between the first images.

[0142] In one aspect, the method also includes estimating a moving speed of the foreign object with the one or more computer processors from the differences between the first images.

[0143] In one aspect, the one or more cameras acquire the first images at a first frame rate and additional, second images at a different, second frame rate. The method can also include modifying at least one of the first frame rate or the second frame rate based on changes in a moving speed of the vehicle.

[0144] In one aspect, the method also includes comparing the first images with plural additional images of the route obtained by plural other vehicles at one or more other times in order to identify degradation of the route.

[0145] In another example of the inventive subject matter described herein, a system (e.g., an optical route examining system) includes one or more cameras configured to be mounted on a vehicle and to obtain plural first images of an upcoming segment of a route while the vehicle is moving along the route. The system also includes one or more computer processors configured to compare the first images with each other to identify differences between the first images, to identify a foreign object on or near the upcoming segment of the route based on the differences between the first images that are identified, to determine if the foreign object is a transitory object or a persistent object based on the differences between the first images that are identified, and to implement one or more mitigating actions responsive to determining if the foreign object is the transitory object or the persistent object.

[0146] In one aspect, the one or more computer processors also are configured to direct the one or more cameras to increase a magnification level of the one or more cameras to zoom in on the foreign object and obtaining one or more second images of the foreign object. The foreign object can be determined to be the persistent object by the one or more computer processors responsive to a comparison between the first images and the one or more second images.

[0147] In one aspect, the one or more computer processors direct the one or more cameras to obtain the first images at different times, and the one or more computer processors are configured to implement the one or more mitigating actions by prioritizing the one or more mitigating actions based on the differences in the first images obtained at the different times.

[0148] In one aspect, the one or more computer processors also are configured to calculate a depth of the foreign object and a distance from the vehicle to the foreign object based on comparisons of the first images.

[0149] In one aspect, the one or more computer processors are configured to implement the one or more mitigating actions based on whether the foreign object is the persistent object or the transitory object, a depth of the foreign object that is calculated by the one or more computer processors based on the differences between the first images, and a distance from the vehicle to the foreign object that is calculated by the one or more computer processors based on the differences between the first images.

[0150] In one aspect, the one or more computer processors are configured to estimate a moving speed of the foreign object from the differences between the first images.

[0151] In one aspect, the one or more cameras acquire the first images at a first frame rate and additional, second images at a different, second frame rate. The one or more computer processors also can be configured to modify at least one of the first frame rate or the second frame rate based on changes in a moving speed of the vehicle.

[0152] In one aspect, the one or more computer processors also are configured to compare the first images with plural additional images of the route obtained by plural other vehicles at one or more other times in order to identify degradation of the route.

[0153] In another embodiment, an optical route examination system examines image data to detect signs alongside a route using an on-board camera of a vehicle. Certain signs (e.g., mileposts) can be detected and stored in a memory structure, such as a database, list, or the like. Using image analysis (e.g., optical character recognition), information on the signs (e.g., letters, numbers, symbols, or the like) can be determined. The memory structure can be built or created to include images of the signs, the information on the sign, and/or the location of the sign. The memory structure can then be used and/or updated for a variety of purposes, such as for automatic control of vehicles. For example, a positive train control (PTC) system, an onboard safety system, or the like can use the information in the memory structure to determine when to slow movement of vehicles in certain areas, when to allow the vehicles to travel faster, when to automatically apply brakes of the vehicles, or the like.

[0154] Figure 16 is a schematic illustration of an optical route examination system 1600 in accordance with another embodiment. The system 1600 is disposed onboard a vehicle 1602, such as a rail vehicle. The vehicle 1602 may be the same as or different from the vehicle 102 shown in Figure 1. For example, the vehicle 1602 may represent the vehicle 102. The vehicle 1602 can be connected with one or more other vehicles, such as one or more locomotives and rail cars, to form a consist that travels along a route 1620, such as a track. Alternatively, the vehicle 1602 may be another type of vehicle, such as another type of off-highway vehicle (e.g., a vehicle that is not designed or is not permitted to travel on public roadways), an automobile, or the like. In a consist, the vehicle 1602 can pull and/or push passengers and/or cargo, such as in a train or other system of vehicles.

[0155] The system 1600 includes one or more cameras 1606, which may represent one or more of the cameras 106 shown in Figure 1. The camera 1606 can obtain static (e.g., still) images and/or moving images (e.g., video). Optionally, the camera 1606 may be disposed inside the vehicle 1602. The camera 1606 may obtain images and/or videos of the route 1620 and/or signs disposed alongside the route 1620 while the vehicle 1602 is moving at relatively fast speeds. For example, the images may be obtained while the vehicle 1602 is moving at or near an upper speed limit of the route 1620, such as the track speed of the route 1620 when maintenance is not being performed on the route 1620 or the upper speed limit of the route 1620 has not been reduced.

[0156] The system 1600 includes a camera controller 1612, which may represent the camera controller 112 shown in Figure 1. The camera controller 1612 can control operations of the camera 1606, similar to as described above in connection with the camera controller 112. The system 1600 also may include one or more image analysis processors 1616, which can represent one or more of the image analysis processors 116 shown in Figure 1. An image memory 1618 of the system 1600 may represent the image memory 118 shown in Figure 1. A vehicle controller 1614 can represent the vehicle controller 114 shown in Figure 1. As described above, the vehicle controller 114 (and therefore, the vehicle controller 1614 in one embodiment) can include a positioning system that determines locations of the vehicle 102, 1602 along the route 120, 1620. Optionally, a positioning system 1622 may be separate from the controller 1614, but operably connected with the controllers 1612 and/or 1614 (e.g., by one or more wired and/or wireless connections) so that the positioning system 1622 can communicate data representative of locations of the vehicle 1620 to the controllers 1612 and/or 1614. Examples of positioning systems 1622 include global positioning systems, cellular triangulation systems, radio frequency identification (RFID) interrogators or readers (e.g., that read roadside transponders to determine locations), computer microprocessors that calculate locations based on elapsed times since a previous location, speeds of the vehicle 1602, and/or layouts of the route 1620, or the like.

[0157] The system 1600 may include a communication device 1624 that represents transceiving circuitry and associated hardware (e.g., antenna 1626) that can wirelessly communicate information to and/or from the vehicle 1602. In one aspect, the communication device 1624 is connected with one or more wires, cables, buses, or the like (e.g., a multiple unit cable, train line, etc.) for communicating information between the vehicle 1602 and another vehicle that is mechanically coupled with the vehicle 1602 (e.g., directly or by one or more other vehicles).

[0158] With continued reference to the system 1600 shown in Figure 16, Figure 17 illustrates image data 1700 obtained by the system 1600 according to one example. The camera 1606 can obtain or generate the image data 1700 as the vehicle 1602 moves along the route 1620. Alternatively, the image data 1700 can be obtained or created while the vehicle 1602 is stationary. A portion of interest 1702 of the image data 1700 can represent a sign 1704 located alongside or near the route 1620 (e.g., within the field of view of the camera 1606, within ten feet or three meters of the route 1620, or another distance). The image analysis processor 1616 can examine the image data 1700 to identify the portions of interest 1702 that include signs 1704 as the vehicle 1602 moves and/or can identify the portions of interest 1702 when the vehicle 1602 is stationary.

[0159] In one aspect, the image analysis processor 1616 can detect the signs 1704 based on intensities of pixels in the image data 1700, based on wireframe model data generated based on the image data 1700, or the like. For example, the pixels representative of the sign 1704 may be more similar to each other in terms of intensities, color, or the like, than other pixels. The image analysis processor 1616 can identify the signs 1704 in the image data 1700 and store the image data 1700 and/or the portion of interest 1702 that includes the sign 1704 in the image memory 1618. The image analysis processor 1616 can examine the portion of interest 1702 of the image data 1700 to determine what information is represented by the sign 1704. For example, the image analysis processor 1616 can use optical character recognition to identify the letters, numbers, symbols, or the like, that are included in the sign 1704. While the sign 1704 is shown as a printed sign having static numbers, alternatively, the sign 1704 may change which letters, numbers, symbols, or the like, are displayed over time. For example, the sign 1704 may be a display that can change the information that is displayed, the sign 1704 may have placeholders that allow for the letters, numbers, symbols, or the like, to be changed, etc. Alternatively, the image analysis processor 1616 can examine the portion of interest 1702 without first storing the image data 1700 and/or portion of interest 1702 in the memory 1618.

[0160] Figure 18 schematically illustrates examination of the sign 1704 shown in the image data 1700 of Figure 17 and a memory structure 1800 created based at least in part on the examination of the sign 1704 according to one embodiment. The image analysis processor 1616 shown in Figure 16 can use optical character recognition or another technique to identify the information conveyed by the sign 1704 (e.g., shown on the sign 1704). In the illustrated example, the image analysis processor 1616 can examine the portion of interest 1702 of the image data 1700 to determine that the sign 1704 includes the numbers "225." The image analysis processor 1616 can communicate with the positioning system 1622 shown in Figure 16 to determine the location of the vehicle 1602 at the time that the image data 1700 showing the sign 1704 was obtained.

[0161] The image analysis processor 1616 can store the information shown on the sign 1704 and the location of the vehicle 1602 as determined by the positioning system 1622 in the memory structure 1800. Optionally, the portion of interest 1702 and/or the image data 1700 may be stored in the memory structure 1800. The memory structure 1800 represents an organized list, table, database, or the like, of different types of information that are associated with each other. For example, the memory structure 1800 may store several different locations 1802 of different signs 1704 and information 1804 shown on the different signs 1704.

[0162] The memory structure 1800 may be locally stored in the memory 1618 and/or may be remotely stored in a memory device that is off-board the vehicle 1602. The information shown on the signs 1704 and the locations of the signs 1704 may be updated by systems 1600 on several vehicles 1602. For example, communication devices 1624 of multiple vehicles 1602 can communicate the information shown on signs 1704 and the locations of the signs 1704 to a memory device on another vehicle (e.g., the image memory 1618) or at another location, such as a dispatch facility or another location. The information and locations of the signs 1704 may be updated and/or verified as multiple vehicles 1602 travel near the signs 1704.

[0163] The information and locations of the signs 1704 can be used by the system 1600 to determine if a sign 1704 is damaged or obscured. If the image analysis processor 1616 examines image data 1700 and does not identify a sign 1704 in the image data 1700 where the sign 1704 should be located, does not identify the same information written on the sign 1704 that should be written on the sign, or the like, then the image analysis processor 1616 can determine that the sign 1704 is missing, damaged, or otherwise unreadable. For example, the image analysis processor 1616 can examine the memory structure 1800 and determine that a sign 1704 previously was identified at a particular location. The image analysis processor 1616 can examine the image data 1700 acquired at that same location to determine if the sign 1704 is shown in the image data 1700 and/or if the information on the sign 1704 is the same as the information stored in the memory structure 1800. If the sign 1704 is not identified from the image data, then the image analysis processor 1616 can determine that the sign 1704 has been removed. If the image analysis processor 1616 is unable to identify the information printed on the sign 1704, then the image analysis processor 1616 can determine that the sign 1704 is damaged or at least partially obscured from view (e.g., by condensation, ice, vegetation, or the like). If the information shown on the sign 1704 does not match the information stored in the memory structure 1800 that is associated with the location of the sign 1704, then the image analysis processor 1616 can determine that the sign is damaged, that the sign 1704 is at least partially obscured from view, and/or that the information stored in the memory structure 1800 and/or shown on the sign 1704 is incorrect.

[0164] Responsive to identifying one or more of these problems with the sign 1704 and/or the memory structure 1800, the image analysis processor 1616 can communicate one or more warning signals. These signals can be communicated to another vehicle to request that the system 1600 onboard the other vehicle check the image data of the sign 1704, to an off-board facility to request inspection, repair, or maintenance of the sign 1704 and/or information recorded in the memory structure 1800, or the like.

[0165] In one embodiment, the information stored in the memory structure 1800 can be used by the vehicle controller 1614 to control operations of the vehicle 1602. For example, some signs 1704 may display speed limits for the route 1620, some signs 1704 can indicate that operators are working on or near the route 1620, some signs 1704 can instruct operators of vehicles 1602 to stop, or the like. The information that is read from the signs 1704 and stored in the memory structure 1800 by the systems 1600 can be used to automatically control operations of the vehicles 1602. The vehicle controller 1614 can monitor locations of the vehicle 1602 based on data communicated from the positioning system 1622. Responsive to the vehicle 1602 approaching or reaching the location associated with a sign 1704 in the memory structure 1800 (e.g., coming within a designated distance of the sign 1704), the vehicle controller 1614 can examine the memory structure 1800 to determine what information is shown on the sign 1704. If the information represents a speed limit, instructions to stop, or the like, then the vehicle controller 1614 can automatically change the speed or stop the vehicle 1600, and/or display instructions to the operator to change the speed or stop the vehicle 1600, in accordance with the instructions displayed on the sign 1704. Optionally, the memory structure 1800 can include information that is used as a positive train control system to automatically control movement of the vehicle 1600.

[0166] Figure 19 illustrates a flowchart of a method 1900 for identifying information shown on signs from image data according to one embodiment. The method 1900 may be performed by one or more embodiments of the route examination systems described herein. At 1902, image data of a route is obtained during movement of a vehicle along a route. At 1904, a determination is made as to whether the image data includes a sign. For example, the pixel intensities in the image data can be examined to determine if a sign is present. If a sign is shown in the image data, then flow of the method 1900 can proceed to 1906. If no sign is visible in the image data, then flow of the method 1900 can return to 1902 so that additional image data can be obtained.

[0167] At 1906, the portion of the image data that represents the sign is examined to determine what information is shown on the sign. For example, optical character recognition or another technique (e.g., manual inspection) may be performed on the image data or the portion of the image data that represents the sign to determine what letters, numbers, symbols, or the like, are shown on the sign.

[0168] At 1908, the location of the sign is determined. The location of the sign may be determined by determining the location of the vehicle when the image data showing the sign was obtained. Alternatively, the location of the sign may be manually input by an operator. At 1910, the location of the sign and the information shown on the sign are recorded, such as in a memory structure. As described above, this memory structure can then be used to later check on the status or state of the sign, to automatically control operations of vehicles, to instruct operators how to control operations of the vehicles, or the like. Flow of the method 1900 can return to 1902 so that additional image data is obtained.

[0169] Returning to the description of the route examination system 1600 shown in Figure 16, the system 1600 optionally can examine the image data to ensure that safety equipment on the route 1620 is functioning as intended or designed. For example, the image analysis processor 1616, can analyze image data that shows crossing equipment. The image analysis processor 1616 can examine this data to determine if the crossing equipment is functioning to notify other vehicles at a crossing (e.g., an intersection between the route 1620 and another route, such as a road for automobiles) of the passage of the vehicle 1602 through the crossing.

[0170] Figure 20 illustrates image data 2000 representative of a crossing 2002 according to one example. The image data 2000 may be obtained or generated by the camera 1606 (shown in Figure 16) as the vehicle 1602 is moving toward the crossing 2002, which represents an intersection between the route 1620 and another route 2004, such as a road for automobiles. The image analysis processor 1616 (shown in Figure 16) of the route examination system 1600 (shown in Figure 16) onboard the vehicle 1602 can determine a time period that image data obtained or generated by the camera 1606 includes or shows the crossing 2002 based on the location of the vehicle 1602. For example, the image analysis processor 1616 can communicate with the positioning system 1622 (shown in Figure 16) and determine when the vehicle 1602 is at or approaching the crossing 2002 (e.g., within a designated distance from the crossing 2002, such as a quarter mile or 0.4 kilometers, or another distance). The location of the crossing 2002 may be programmed into the image analysis processor 1616 (e.g., by being hard wired into the hardware circuitry of the processor 1616), stored in the memory 1618 (shown in Figure 16), or otherwise accessible to the processor 1616.

[0171] Responsive to determining that the vehicle 1602 is at or approaching the crossing 2002, the image analysis processor 1616 can examine the image data acquired or generated during the time period that the vehicle 1602 is at or approaching the crossing 2002. The processor 1616 can examine the image data to determine if safety equipment 2006 (e.g., equipment 2006A-C) is present at or near the crossing 2002 (e.g., within a designated distance of the crossing 2002, such as fifty feet or fifteen meters, or another distance), and/or if the safety equipment 2006 is operating.

[0172] In the illustrated example, the safety equipment 2006A represents a crossing sign. Similar to the sign 1704 shown in Figure 17, the safety equipment 2006A can display letters, numbers, symbols, or the like, to warn operators of vehicles of the crossing 2002.

[0173] The safety equipment 2006B represents electronic signals, such as lights that are activated to generate light responsive to a vehicle traveling on the route 1620 toward the crossing 2002 and/or coming within a designated distance (e.g., a quarter mile or 0.4 kilometers, or another distance) of the crossing 2002. These lights may be constant lights (e.g., lights that do not blink or repeatedly turn ON and OFF), blinking lights (e.g., lights that repeatedly alternate between turning ON and OFF), or a combination thereof. The safety equipment 2006C represents a crossing barrier, such as a gate, that is activated to move (e.g., lower) to block passage of vehicles on the route 2004 across the route 1620 through the crossing 2002. The safety equipment 2006C can be activated (e.g., lowered) responsive to a vehicle on the route 1620 traveling on the route 1620 toward the crossing 2002 and/or coming within a designated distance (e.g., a quarter mile or 0.4 kilometers, or another distance) of the crossing 2002.

[0174] In order to ensure that the safety equipment 2006 is present, not damaged, and/or operating properly, the image analysis processor 1616 can examine the image data 2000. The processor 1616 can search through the image data 2000 to determine if groups of pixels having the same or similar intensities (e.g., within a designated range of each other, such as 1%, 5%, 10%, or the like) are at or near the locations in the image data 2000 where a corresponding safety equipment 2006 is located. In one aspect, the processor 1616 can compare baseline image data, such as object templates similar to as described above in connection with Figures 4, 5A, and 5B, to the image data 2000 to determine if the safety equipment 2006 is present in the image data 2000. Alternatively, another technique may be used. With respect to the safety equipment 2006B, the processor 1616 can examine image data acquired or generated at different times to determine if the lights of the safety equipment 2006B are activated and/or blinking.

[0175] If the image analysis processor 1616 determines that one or more of the safety equipment 2006 is missing, damaged, or not operating based at least in part on examination of the image data, then the image analysis processor 1616 can generate one or more warning signals. These signals can be communicated to an operator of the vehicle 1602 (e.g., such as by being displayed on a display, monitor, or other output device of the vehicle 1602 or controller 114, 1614), to an off-board facility to request repair, inspection, and/or further examination of the safety equipment 2006, to other vehicles (e.g., traveling on the route 1620 and/or the route 2004) to warn the other vehicles of the potentially malfunctioning or absent safety equipment 2006, or the like.

[0176] Optionally, safety equipment 2006 may be located in places other than a crossing 2002. The image analysis processor 1616 can examine the image data obtained or generated when the vehicle 1602 is positioned such that the field of view of the camera 1616 includes the safety equipment 2006. The image analysis processor 1616 can examine this image data in a manner similar to as described above in order to determine if the safety equipment is present, damaged, or not functioning properly.

[0177] Additionally or alternatively, equipment other than safety equipment 2006 can be examined by the image analysis processor 1616. The image analysis processor 1616 can examine image data that represents wayside assets, such as safety equipment or other equipment that is disposed alongside the route 1620. The wayside assets can include equipment that is within a designated distance of the route 1620, such as fifty feet or fifteen meters, or another distance.

[0178] Figure 21 illustrates a flowchart of a method 2100 for examining wayside assets using image data according to one embodiment. The method 2100 may be performed by one or more embodiments of the route examination systems 100, 1600 described herein. At 2102, a location of a vehicle is determined during movement of the vehicle along a route. At 2104, a determination is made as to whether the location of the vehicle is at or near a wayside asset. For example, the location of the vehicle may be compared to a memory structure (e.g., a list, table, database, or the like) having locations of different wayside assets (e.g., safety equipment, inspection equipment, switches in the route, or the like) stored therein. If the location of the vehicle is within a designated distance of a wayside asset (e.g., fifty feet or fifteen meters, or another distance), then flow of the method 2100 can proceed to 2106. Alternatively, if the vehicle is not at or near a wayside asset, then flow of the method 2100 can return to 2102. For example, additional locations of the vehicle can be identified and examined to determine when the vehicle is close to a wayside asset.

[0179] At 2106, image data acquired or generated by a camera onboard the vehicle is examined. For example, when the vehicle is at or near the wayside asset, the field of view of an onboard camera may include the wayside asset. The image data acquired or generated by the camera during at least part of the time period that the field of view included the wayside asset may be examined. At 2108, a determination is made as to whether the image data indicates that the wayside asset is damaged, missing, and/or not functioning properly. For example, if the wayside asset does not appear in the image data, then the wayside asset may be missing. If the wayside asset does not appear similar to an object template, a prior image, or the like, then the wayside asset may be damaged and/or malfunctioning. If the image data indicates that the asset is missing, damaged, and/or malfunctioning, then flow of the method 2100 can proceed to 2110. Otherwise, flow of the method 2100 can return to 2102 so that additional image data may be examined at other locations in order to inspect other wayside assets.

[0180] At 2110, one or more warning signals are generated. For example, a signal may be generated and/or communicated to a display, monitor, or the like, to warn an operator onboard the vehicle of the missing, damaged, and/or malfunctioning wayside asset. As another example, a signal may be generated and/or communicated to an off-board facility in order to request inspection, repair, and/or replacement of the wayside asset. Optionally, the signal may be communicated to one or more other vehicles to warn of the damaged, missing, and/or malfunctioning wayside asset.

[0181] In one or more embodiments described herein, the image data may be examined by the image analysis processors as the vehicle is moving and/or the image data is output from the cameras. For example, instead of obtaining the image data and storing the image data for an extended period of time (e.g., until the vehicle has moved such that the fields of view of the cameras do not include any portion of the image data), the image analysis processors may examine the image data while the same objects, segments of the route, or the like, are within the field of view of the camera.

[0182] In one embodiment, a method (e.g., for examining a route) includes obtaining image data of a field of view of a camera disposed onboard a first vehicle as the first vehicle moves along a first route, and autonomously examining the image data onboard the first vehicle to identify one or more of a feature of interest or a designated object.

[0183] In one aspect, the feature of interest is a gauge distance between two or more portions of the first route, and autonomously examining the image data includes determining one or more changes in the gauge distance.

[0184] In one aspect, the method also includes identifying a segment of the first route as being damaged responsive to the one or more changes in the gauge distance indicating one or more of an increasing trend and a decreasing trend subsequent to the increasing trend, and/or the decreasing trend and the increasing trend subsequent to the decreasing trend.

[0185] In one aspect, the segment of the first route is identified as being damaged responsive to the increasing trend occurring over at least one or more of a first designated time or a first designated distance and the decreasing trend also occurring over at least one or more of a second designated time or a second designated distance.

[0186] In one aspect, the segment of the first route is identified as being damaged responsive to the one or more of the first designated time or distance and the one or more of the second designated time or distance being within at least one of an outer designated time limit or an outer designated distance limit.

[0187] In one aspect, the designated object is a sign, and the method also includes determining a location of the sign, and autonomously examining the image data to determine information displayed on the sign.

[0188] In one aspect, the method also includes storing the location of the sign and the information displayed on the sign in a memory structure configured to be used by at least one of the first vehicle or one or more second vehicles to automatically control operations of the at least one of the first vehicle or the one or more second vehicles.

[0189] In one aspect, the designated object is a wayside asset, and autonomously examining the image data includes determining that the wayside asset is one or more of damaged, missing, or malfunctioning based at least in part on the image data.

[0190] In one aspect, the designated object is safety equipment located at a crossing between the first route being traveled by the first vehicle and a second route, and autonomously examining the image data includes determining that one or more of a gate of the safety equipment has not moved to block movement of one or more second vehicles through the crossing along the second route, and/or a light signal of the safety equipment is not activated, and/or a sign of the safety equipment is at least one of missing or damaged.

[0191] In another embodiment, a system (e.g., a route examination system) includes one or more image analysis processors configured to be disposed onboard a first vehicle as the first vehicle moves along a first route. The one or more image analysis processors also are configured to obtain image data of a field of view of a camera disposed onboard the first vehicle and to autonomously examine the image data onboard the first vehicle to identify one or more of a feature of interest or a designated object.

[0192] In one aspect, the feature of interest is a gauge distance between two or more portions of the first route, and the one or more image analysis processors are configured to autonomously determine one or more changes in the gauge distance.

[0193] In one aspect, the one or more image analysis processors are configured to identify a segment of the first route as being damaged responsive to the one or more changes in the gauge distance indicating one or more of an increasing trend and a decreasing trend subsequent to the increasing trend, and/or the decreasing trend and the increasing trend subsequent to the decreasing trend.

[0194] In one aspect, the one or more image analysis processors are configured to identify the segment of the first route as being damaged responsive to the increasing trend occurring over at least one or more of a first designated time or a first designated distance and the decreasing trend also occurring over at least one or more of a second designated time or a second designated distance.

[0195] In one aspect, the one or more image analysis processors are configured to identify the segment of the first route as being damaged responsive to the one or more of the first designated time or distance and the one or more of the second designated time or distance being within at least one of an outer designated time limit or an outer designated distance limit.

[0196] In one aspect, the designated object is a sign, and the one or more image analysis processors are configured to determine a location of the sign, autonomously examine the image data to determine information displayed on the sign, and store the location of the sign and the information displayed on the sign in a memory structure configured to be used by at least one of the first vehicle or one or more second vehicles to automatically control operations of the at least one of the first vehicle or the one or more second vehicles.

[0197] In one aspect, the designated object is a wayside asset, and the one or more image analysis processors are configured to autonomously determine that the wayside asset is one or more of damaged, missing, or malfunctioning based at least in part on the image data.

[0198] In one aspect, the designated object is safety equipment located at a crossing between the first route being traveled by the first vehicle and a second route, and the one or more image analysis processors are configured to autonomously determine that one or more of: a gate of the safety equipment has not moved to block movement of one or more second vehicles through the crossing along the second route, or a light signal of the safety equipment is not activated, or a sign of the safety equipment is at least one of missing or damaged.

[0199] In another embodiment, another method (e.g., for examining a route) includes examining image data of a track having plural rails. The image data can be obtained from a camera onboard a vehicle moving along the track. The method also includes determining gauge distances of the track based at least in part on the image data, and identifying a segment of the track as having one or more damaged rails based on trends in the gauge distances of the track.

[0200] In one aspect, identifying the segment of the track as having one or more damaged rails includes identifying a first trend in the gauge distances and an opposite second trend in the gauge distances subsequent to the first trend.

[0201] In one aspect, identifying the segment of the track as having one or more damaged rails occurs responsive to determining that the first trend and the second trend each occur over at least one or more of a designated time or distance.

[0202] Components of the systems described herein may include or represent hardware circuits or circuitry that include and/or are connected with one or more processors, such as one or more computer microprocessors. The operations of the methods described herein and the systems can be sufficiently complex such that the operations cannot be mentally performed by an average human being or a person of ordinary skill in the art within a commercially reasonable time period. For example, the examination of the image data may take into account a large amount of information, may rely on relatively complex computations, and the like, such that such a person cannot complete the examination of the image data within a commercially reasonable time period to control the vehicle based on the examination of the image data. The hardware circuits and/or processors of the systems described herein may be used to significantly reduce the time needed to obtain and examine the image data such that the image data can be examined and damaged portions of a route can be identified within safe and/or commercially reasonable time periods.

[0203] As used herein, a structure, limitation, or element that is "configured to" perform a task or operation is particularly structurally formed, constructed, programmed, or adapted in a manner corresponding to the task or operation. For purposes of clarity and the avoidance of doubt, an object that is merely capable of being modified to perform the task or operation is not "configured to" perform the task or operation as used herein. Instead, the use of "configured to" as used herein denotes structural adaptations or characteristics, programming of the structure or element to perform the corresponding task or operation in a manner that is different from an "off-the-shelf" structure or element that is not programmed to perform the task or operation, and/or denotes structural requirements of any structure, limitation, or element that is described as being "configured to" perform the task or operation.

[0204] It is to be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described embodiments (and/or aspects thereof) may be used in combination with each other. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the inventive subject matter without departing from its scope. While the dimensions and types of materials described herein are intended to define the parameters of the inventive subject matter, they are by no means limiting and are exemplary embodiments. Many other embodiments will be apparent to one of ordinary skill in the art upon reviewing the above description. The scope of the inventive subject matter should, therefore, be determined with reference to the appended clauses, along with the full scope of equivalents to which such clauses are entitled. In the appended clauses, the terms "including" and "in which" are used as the plain-English equivalents of the respective terms "comprising" and "wherein." Moreover, in the following clauses, the terms "first," "second," and "third," etc. are used merely as labels, and are not intended to impose numerical requirements on their objects. Further, the limitations of the following clauses are not written in means-plus-function format and are not intended to be interpreted based on 35 U.S.C. § 112(f), unless and until such clause limitations expressly use the phrase "means for" followed by a statement of function void of further structure.

[0205] This written description uses examples to disclose several embodiments of the inventive subject matter and also to enable a person of ordinary skill in the art to practice the embodiments of the inventive subject matter, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the inventive subject matter may include other examples that occur to those of ordinary skill in the art. Such other examples are intended to be within the scope of the clauses if they have structural elements that do not differ from the literal language of the clauses, or if they include equivalent structural elements with insubstantial differences from the literal languages of the clauses.

[0206] The foregoing description of certain embodiments of the inventive subject matter will be better understood when read in conjunction with the appended drawings. To the extent that the figures illustrate diagrams of the functional blocks of various embodiments, the functional blocks are not necessarily indicative of the division between hardware circuitry. Thus, for example, one or more of the functional blocks (for example, processors or memories) may be implemented in a single piece of hardware (for example, a general purpose signal processor, microcontroller, random access memory, hard disk, and the like). Similarly, the programs may be stand-alone programs, may be incorporated as subroutines in an operating system, may be functions in an installed software package, and the like. The various embodiments are not limited to the arrangements and instrumentality shown in the drawings.

[0207] As used herein, an element or step recited in the singular and proceeded with the word "a" or "an" should be understood as not excluding plural of said elements or steps, unless such exclusion is explicitly stated. Furthermore, references to "an embodiment" or "one embodiment" of the inventive subject matter are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. Moreover, unless explicitly stated to the contrary, embodiments "comprising," "including," or "having" an element or a plurality of elements having a particular property may include additional such elements not having that property.

[0208] Since certain changes may be made in the above-described systems and methods without departing from the spirit and scope of the inventive subject matter herein involved, it is intended that all of the subject matter of the above description or shown in the accompanying drawings shall be interpreted merely as examples illustrating the inventive concept herein and shall not be construed as limiting the inventive subject matter.

[0209] Various aspects and embodiments of the present invention are defined by the following numbered clauses:

1. A method comprising:

obtaining image data of a field of view of a camera disposed onboard a first vehicle as the first vehicle moves along a first route; and

autonomously examining the image data onboard the first vehicle to identify one or more of a feature of interest or a designated object.

2. The method of clause 1, wherein the feature of interest is a gauge distance between two or more portions of the first route, and autonomously examining the image data includes determining one or more changes in the gauge distance.

3. The method of clause 1 or clause 2, further comprising identifying a segment of the first route as being damaged responsive to the one or more changes in the gauge distance indicating one or more of:

an increasing trend and a decreasing trend subsequent to the increasing trend, or the decreasing trend and the increasing trend subsequent to the decreasing trend.

4. The method of any preceding clause, wherein the segment of the first route is identified as being damaged responsive to the increasing trend occurring over at least one or more of a first designated time or a first designated distance and the decreasing trend also occurring over at least one or more of a second designated time or a second designated distance.

5. The method of any preceding clause, wherein the segment of the first route is identified as being damaged responsive to the one or more of the first designated time or distance and the one or more of the second designated time or distance being within at least one of an outer designated time limit or an outer designated distance limit.

6. The method of any preceding clause, wherein the designated object is a sign, and further comprising:

determining a location of the sign; and

autonomously examining the image data to determine information displayed on the sign.

7. The method of any preceding clause, further comprising storing the location of the sign and the information displayed on the sign in a memory structure configured to be used by at least one of the first vehicle or one or more second vehicles to automatically control operations of the at least one of the first vehicle or the one or more second vehicles.

8. The method of any preceding clause, wherein the designated object is a wayside asset, and autonomously examining the image data includes determining that the wayside asset is one or more of damaged, missing, or malfunctioning based at least in part on the image data.

9. The method of any preceding clause, wherein the designated object is safety equipment located at a crossing between the first route being traveled by the first vehicle and a second route, and autonomously examining the image data includes determining that one or more of: a gate of the safety equipment has not moved to block movement of one or more second vehicles through the crossing along the second route, or a light signal of the safety equipment is not activated, or a sign of the safety equipment is at least one of missing or damaged.

10. A system comprising:

one or more image analysis processors configured to be disposed onboard a first vehicle as the first vehicle moves along a first route, the one or more image analysis processors also configured to obtain image data of a field of view of a camera disposed onboard the first vehicle and to autonomously examine the image data onboard the first vehicle to identify one or more of a feature of interest or a designated object.

11. The system of any preceding clause, wherein the feature of interest is a gauge distance between two or more portions of the first route, and the one or more image analysis processors are configured to autonomously determine one or more changes in the gauge distance.

12. The system of any preceding clause, wherein the one or more image analysis processors are configured to identify a segment of the first route as being damaged responsive to the one or more changes in the gauge distance indicating one or more of:

an increasing trend and a decreasing trend subsequent to the increasing trend, or

the decreasing trend and the increasing trend subsequent to the decreasing trend.

13. The system of any preceding clause, wherein the one or more image analysis processors are configured to identify the segment of the first route as being damaged responsive to the increasing trend occurring over at least one or more of a first designated time or a first designated distance and the decreasing trend also occurring over at least one or more of a second designated time or a second designated distance.

14. The system of any preceding clause, wherein the one or more image analysis processors are configured to identify the segment of the first route as being damaged responsive to the one or more of the first designated time or distance and the one or more of the second designated time or distance being within at least one of an outer designated time limit or an outer designated distance limit.

15. The system of any preceding clause, wherein the designated object is a sign, and the one or more image analysis processors are configured to determine a location of the sign, autonomously examine the image data to determine information displayed on the sign, and store the location of the sign and the information displayed on the sign in a memory structure configured to be used by at least one of the first vehicle or one or more second vehicles to automatically control operations of the at least one of the first vehicle or the one or more second vehicles.

16. The system of any preceding clause, wherein the designated object is a wayside asset, and the one or more image analysis processors are configured to autonomously determine that the wayside asset is one or more of damaged, missing, or malfunctioning based at least in part on the image data.

17. The system of any preceding clause, wherein the designated object is safety equipment located at a crossing between the first route being traveled by the first vehicle and a second route, and the one or more image analysis processors are configured to autonomously determine that one or more of: a gate of the safety equipment has not moved to block movement of one or more second vehicles through the crossing along the second route, or a light signal of the safety equipment is not activated, or a sign of the safety equipment is at least one of missing or damaged.

18. A method comprising:

examining image data of a track having plural rails, the image data obtained from a camera onboard a vehicle moving along the track;

determining gauge distances of the track based at least in part on the image data; and

identifying a segment of the track as having one or more damaged rails based on trends in the gauge distances of the track.

19. The method of clause 18, wherein identifying the segment of the track as having one or more damaged rails includes identifying a first trend in the gauge distances and an opposite second trend in the gauge distances subsequent to the first trend.

20. The method of clause 18 or clause 19, wherein identifying the segment of the track as having one or more damaged rails occurs responsive to determining that the first trend and the second trend each occur over at least one or more of a designated time or distance.

Claims

1. A method comprising:

obtaining image data of a field of view (108, 110) of a camera (106; 1606) disposed onboard a first vehicle (102; 1602) as the first vehicle (102; 1602) moves along a first route (120; 1620); and

autonomously examining the image data onboard the first vehicle (102) to identify one or more of a feature of interest (200, 202, 204; 500; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) or a designated object (200, 202, 204; 500; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006).

2. The method of claim 1, wherein the feature of interest (200, 202, 204; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) is a gauge distance (500) between two or more portions of the first route (120; 1620), and autonomously examining the image data includes determining one or more changes in the gauge distance (500).

3. The method of claim 1 or claim 2, further comprising identifying a segment of the first route (120; 1620) as being damaged responsive to the one or more changes in the gauge distance (500) indicating one or more of:

an increasing trend and a decreasing trend subsequent to the increasing trend, or

the decreasing trend and the increasing trend subsequent to the decreasing trend.

4. The method of claim 3, wherein the segment of the first route (120; 1620) is identified as being damaged responsive to the increasing trend occurring over at least one or more of a first designated time or a first designated distance and the decreasing trend also occurring over at least one or more of a second designated time or a second designated distance.

5. The method of claim 3 or claim 4, wherein the segment of the first route (120; 1620) is identified as being damaged responsive to the one or more of the first designated time or distance and the one or more of the second designated time or distance being within at least one of an outer designated time limit or an outer designated distance limit.

6. The method of any preceding claim, wherein the designated object (200, 202, 204; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) is a sign (1704), and further comprising:

determining a location of the sign (1704); and

autonomously examining the image data to determine information displayed on the sign (1704).

7. The method of claim 6, further comprising storing the location of the sign (1704) and the information displayed on the sign (1704) in a memory structure (118; 1618) configured to be used by at least one of the first vehicle (102; 1602) or one or more second vehicles (102; 1602) to automatically control operations of the at least one of the first vehicle (102; 1602) or the one or more second vehicles (102; 1602).

8. The method of any preceding claim, wherein the designated object (200, 202, 204; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) is a wayside asset, and autonomously examining the image data includes determining that the wayside asset is one or more of damaged, missing, or malfunctioning based at least in part on the image data.

9. The method of any preceding claim, wherein the designated object (200, 202, 204; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) is safety equipment (2006) located at a crossing (2002) between the first route (120; 1620) being traveled by the first vehicle (102; 1602) and a second route (2004), and autonomously examining the image data includes determining that one or more of: a gate of the safety equipment (2006) has not moved to block movement of one or more second vehicles through the crossing along the second route, or a light signal of the safety equipment (2006) is not activated, or a sign of the safety equipment (2006) is at least one of missing or damaged.

10. A system (100; 1600) comprising:

one or more image analysis processors (116; 1616) configured to be disposed onboard a first vehicle (102; 1602) as the first vehicle (102; 1602) moves along a first route (120; 1620), the one or more image analysis processors (116; 1616) also configured to obtain image data of a field of view (108, 110) of a camera (106; 1606) disposed onboard the first vehicle (102; 1602) and to autonomously examine the image data onboard the first vehicle (102; 1602) to identify one or more of a feature of interest (200, 202, 204; 500; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) or a designated object (200, 202, 204; 500; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006).

11. The system (100; 1600) of claim 10, wherein the feature of interest (200, 202, 204; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) is a gauge distance (500) between two or more portions of the first route (120; 1620), and the one or more image analysis processors (116; 1616) are configured to autonomously determine one or more changes in the gauge distance (500).

12. The system (100; 1600) of claim 10 or claim 11, wherein the one or more image analysis processors (116; 1616) are configured to identify a segment of the first route (120; 1620) as being damaged responsive to the one or more changes in the gauge distance (500) indicating one or more of:

an increasing trend and a decreasing trend subsequent to the increasing trend, or

the decreasing trend and the increasing trend subsequent to the decreasing trend.

13. The system (100; 1600) of any of claims 10 to 12, wherein the designated object (200, 202, 204; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) is a sign (1704), and the one or more image analysis processors (116; 1616) are configured to determine a location of the sign (1704), autonomously examine the image data to determine information displayed on the sign (1704), and store the location of the sign (1704) and the information displayed on the sign (1704) in a memory structure (118; 1618) configured to be used by at least one of the first vehicle (102; 1602) or one or more second vehicles (102; 1602) to automatically control operations of the at least one of the first vehicle (102; 1602) or the one or more second vehicles (102; 1602).

14. The system (100; 1600) of any of claims 10 to 13, wherein the designated object (200, 202, 204; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) is a wayside asset, and the one or more image analysis processors (116; 1616) are configured to autonomously determine that the wayside asset is one or more of damaged, missing, or malfunctioning based at least in part on the image data.

15. The system (100; 1600) of any of claims 10 to 14, wherein the designated object (200, 202, 204; 804, 806, 808; 1000, 1002, 1004; 1100, 1102, 1104; 1704; 2002, 2006) is safety equipment (2006) located at a crossing (2002) between the first route (120; 1620) being traveled by the first vehicle (102; 1602) and a second route (2004), and the one or more image analysis processors (116; 1616) are configured to autonomously determine that one or more of: a gate of the safety equipment (2006) has not moved to block movement of one or more second vehicles through the crossing along the second route, or a light signal of the safety equipment (2006) is not activated, or a sign of the safety equipment (2006) is at least one of missing or damaged.

Drawing