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Sensors 2016, 16(4), 558;

High Resolution Trichromatic Road Surface Scanning with a Line Scan Camera and Light Emitting Diode Lighting for Road-Kill Detection

School of Engineering of the University of Minho, Guimarães 4800-058, Portugal
Geo-Space Sciences Research Centre, Observatório Astronómico Prof. Manuel de Barros, University of Porto, Vila Nova de Gaia 4430-146, Portugal
Department of Communication Sciences and Information Technologies, University Institute of Maia, Avioso São Pedro 4475-690, Portugal
Author to whom correspondence should be addressed.
Academic Editor: Felipe Jimenez
Received: 22 January 2016 / Revised: 12 April 2016 / Accepted: 13 April 2016 / Published: 19 April 2016
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [7295 KB, uploaded 19 April 2016]   |  


This paper presents a road surface scanning system that operates with a trichromatic line scan camera with light emitting diode (LED) lighting achieving road surface resolution under a millimeter. It was part of a project named Roadkills—Intelligent systems for surveying mortality of amphibians in Portuguese roads, sponsored by the Portuguese Science and Technology Foundation. A trailer was developed in order to accommodate the complete system with standalone power generation, computer image capture and recording, controlled lighting to operate day or night without disturbance, incremental encoder with 5000 pulses per revolution attached to one of the trailer wheels, under a meter Global Positioning System (GPS) localization, easy to utilize with any vehicle with a trailer towing system and focused on a complete low cost solution. The paper describes the system architecture of the developed prototype, its calibration procedure, the performed experimentation and some obtained results, along with a discussion and comparison with existing systems. Sustained operating trailer speeds of up to 30 km/h are achievable without loss of quality at 4096 pixels’ image width (1 m width of road surface) with 250 µm/pixel resolution. Higher scanning speeds can be achieved by lowering the image resolution (120 km/h with 1 mm/pixel). Computer vision algorithms are under development to operate on the captured images in order to automatically detect road-kills of amphibians. View Full-Text
Keywords: road scanning; computer vision; pavement inspection; line scan camera road scanning; computer vision; pavement inspection; line scan camera

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Lopes, G.; Ribeiro, A.F.; Sillero, N.; Gonçalves-Seco, L.; Silva, C.; Franch, M.; Trigueiros, P. High Resolution Trichromatic Road Surface Scanning with a Line Scan Camera and Light Emitting Diode Lighting for Road-Kill Detection. Sensors 2016, 16, 558.

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