Experimental Description

5.1.1 IR Illumination

Commercial off the shelf high power incandescent spot light designs were pursued that could be modified to output IR light. According to information from many of the manufacturers of such spot lights, which were engineered for theatrical and stage productions, many of the parabolic reflectors within the devices utilized dichroic material layers over the reflector to effectively cancel out the IR spectral band of the projected beam. Four 575 Watt AmericanDJ follow spots were acquired to provide the illumination source (ADJ FS-1000). Importantly, these illuminators use silver surface conic reflectors and thus the projected light in the infrared range required for the sensor was not attenuated. Infrared filter plates were machined to mount on the front of spot illuminators. Like other follow-spot lights, the beam cone angle can be varied and focused to different spot sizes. The plate material, which is abrasion resistant and low cost, has a ½ cut-off wavelength of at 708nm, with about 90 percent transmission

industrial tripods. If such lamp illuminators were deployed along the roadside, a weather proof vented enclosure to protect the units from the elements would be required.

5.1.2 Sensor Apparatus and Vehicle Positioning

The illuminators were then focused to provide an approximately 22 degree spot size—nearly the largest angle setting possible, which equated to a 6 foot (1.8m) diameter at a distance of 15.3 feet (4.7m) and an 11 foot (3.4m) diameter, at a distance 28 feet (8.5m). The smaller projected spot beam spanned the front windshields of the test vehicles, while the wider 11 foot diameter spot beam at the 28 foot distance spanned just under a standard twelve foot wide traffic lane. The cone angle was kept constant to understand the effect of reduced irradiant flux relative to the vehicle’s surface glass, by moving the vehicle closer to the source. The group of illuminators were then closely arranged in a row together between eight to fifteen feet laterally from the TBI sensor. A vehicle was then positioned longitudinally either 15 feet, or 28 feet from the sensor, with a lateral offset of either twelve or six feet (Figure 5.1). Several repeated experiments were then conducted by varying eight shutter speeds of the TBI SWIR sensors from the fastest (250 sec) to slowest speed (16 msec) (Table 5.1).

Figure 5.2. Illuminator and TBI with side vehicle test.

Three test vehicles were used for all outdoor experiments: A black Volkswagen Jetta 2013 SE Sedan, a

2006 grey Mercury Mariner, and red 2016 Model Ford Fusion. We tested both “single occupancy” and “passenger occupancy” conditions across the several exposure settings that can be programmed to operate within the TBI sensor for experimental purposes. To understand any effect of the illuminators themselves, data were also collected with the illuminator off at the TBI default setting of sixteen milliseconds.

5.1.3 Outdoor Test Conditions

For the sake of brevity in the ensuing discussion, we define the three front facing conditions, with the two relative sensor longitudinal distances of twenty eight and fifteen feet, and two lateral distances of six and twelve feet as {longitude distance} × {lateral distance}.

For each of these position and vehicle combinations, the different programmable exposure times (global shutter periods) were configured equally for two SWIR band images. It was not possible to configure vary exposure times for the visible band camera. Table 5.1 summarizes an estimate of the irradiant energy density of SWIR illuminator across the programmable shutter exposure times of the SWIR TBI image sensors. The direct sunlight estimates in the same SWIR TBI lower and upper IR bands were derived from imperial data representing an average spectral irradiant flux of sunlight observed from the earth’s surface. For the illuminators, the energy density levels are based on a blackbody emitter model. The energy density of the spectral irradiance at any given wavelength is estimated assuming uniform energy density across the projected overlapping focused spot sizes of the illuminators. The coverage area is estimated from the previously mentioned projected spot sizes. The calculations are based on

Table 5.1. Estimated irradiant energy density for TBI SWIR bands

Direct Sunlight Tungsten Halogen Illuminator Integration Period (msec) LB Energy Density (mJ/cm2₎ UB Energy Density (mJ/cm2₎ 15 ft. LB Energy Density (mJ/cm2₎ 15 ft. UB Energy Density (mJ/cm2₎ 28 ft. LB Energy Density (mJ/cm2₎ 28 ft. UB Energy Density (mJ/cm2₎ 0.127 0.00202 0.00063 0.00292 0.00129 0.00084 0.00037 0.256 0.00403 0.00126 0.00584 0.00258 0.00168 0.00074 0.512 0.00806 0.00251 0.01169 0.00515 0.00335 0.00148 1.024 0.01613 0.00503 0.02337 0.01031 0.00671 0.00296 2.048 0.03226 0.01005 0.04674 0.02061 0.01341 0.00592 4.096 0.06452 0.02011 0.09349 0.04123 0.02683 0.01183 8.192 0.12903 0.04022 0.18697 0.08246 0.05366 0.02367 16.384 0.25807 0.08043 0.37395 0.16492 0.10732 0.04733 *16.67 0.26459 0.08246 0.3834 0.16909 0.11003 0.04853 *TBI default

5.1.4 Sensor Processing Algorithm

Instead of ROI-definition based histogram equalization, which can be sensitive to the region selected, a two-pass, contrast limited, adaptive histogram equalization was employed in both SWIR bands to localize the contrast enhancements within the vehicle windshield (or passenger side windows) [20]. The algorithm equalizes patches (a size of 5x5 was used) followed by a second pass normalization process

which clips max-intensity histogram peaks and then adds the remainder across other bins. Patch boundaries are interpolated between neighboring patches using bilinear interpolation to void edge artifact. Since the premise of the subtraction step is to create two separable distributions between low intensity and high intensity pixels, Otsu’s algorithm was employed to calculate an optimal threshold in the difference image, instead of manually tuning the threshold. Thus, the parameter to vary is the ratio between the intensity multiplicative scale factors between the Lower to Upper SWIR bands to achieve skin segmentation. For the controlled lab experiments a gain ratio of the two multiplicative weights, 𝐾𝐿𝑜𝑤𝑒𝑟

𝐾𝑈𝑝𝑝𝑒𝑟 < 1.0, and we expected a similar finding for the outdoor experiments since the emitted Radiant power of the illuminators (and the sun) were relatively larger in the TBI lower band IR range than the upper band IR range. Morphological dissolve and dilation operators on the binary image were again used to create blobs, similar to the in-laboratory experiments. In the analysis a 4-sided polygon was used to isolate a region of interest (ROI) for windshields, and more generalized polygon shapes were used to define and isolate ROI for the front side windows (the ROIs were not needed however for the segmentation algorithm). The algorithm was implemented in OpenCV/C++ 3.0.