Visible light communication (VLC) and visible light ranging are applicable techniques for intelligent transportation systems (ITS). They use every unique light-emitting diode (LED) on roads for data transmission and range estimation. The simultaneous VLC and ranging can be applied to improve the performance of both. It is necessary to achieve rapid data rate and high-accuracy ranging when transmitting VLC data and estimating the range simultaneously. We use the signal modulation method of pulse-width modulation (PWM) to increase the data rate. However, when using PWM for VLC data transmission, images of the LED transmitters are captured at different luminance levels and are easily saturated, and LED saturation leads to inaccurate range estimation. In this paper, we establish a novel simultaneous visible light communication and ranging system for ITS using PWM. Here, we analyze the LED saturation problems and apply bicubic interpolation to solve the LED saturation problem and thus, improve the communication and ranging performance. Simultaneous communication and ranging are enabled using a stereo camera. Communication is realized using maximal-ratio combining (MRC) while ranging is achieved using phase-only correlation (POC) and sinc function approximation. Furthermore, we measured the performance of our proposed system using a field trial experiment. The results show that error-free performance can be achieved up to a communication distance of 55 m and the range estimation errors are below 0.5m within 60m.

Image sensor communication (ISC), derived from visible light communication (VLC) is an attractive solution for outdoor mobile environments, particularly for intelligent transport systems (ITS). In ITS-ISC, tracking a transmitter in the image plane is critical issue since vehicle vibrations make it difficult to selsct the correct pixels for data reception. Our goal in this study is to develop a precise tracking method. To accomplish this, vehicle vibration modeling and its parameters estimation, i.e., represetative frequencies and their amplitudes for inherent vehicle vibration, and the variance of the Gaussian random process represnting road surface irregularity, are required. In this paper, we measured actual vehicle vibration in a driving situation and determined parameters based on the frequency characteristics. Then, we demonstrate that vehicle vibration that induces transmitter displacement in an image plane can be modeled by only Gaussian random processes that represent road surface irregularity when a high frame rate (e.g., 1000fps) image sensor is used as an ISC receiver. The simplified vehicle vibration model and its parameters are evaluated by numerical analysis and experimental measurement and obtained result shows that the proposed model can reproduce the characteristics of the transmitter displacement sufficiently.

In this paper, we present an automatic vision-based traffic sign recognition system, which can detect and classify traffic signs at long distance under different lighting conditions. To realize this purpose, the traffic sign recognition is developed in an originally proposed dual-focal active camera system. In this system, a telephoto camera is equipped as an assistant of a wide angle camera. The telephoto camera can capture a high accuracy image for an object of interest in the view field of the wide angle camera. The image from the telephoto camera provides enough information for recognition when the accuracy of traffic sign is low from the wide angle camera. In the proposed system, the traffic sign detection and classification are processed separately for different images from the wide angle camera and telephoto camera. Besides, in order to detect traffic sign from complex background in different lighting conditions, we propose a type of color transformation which is invariant to light changing. This color transformation is conducted to highlight the pattern of traffic signs by reducing the complexity of background. Based on the color transformation, a multi-resolution detector with cascade mode is trained and used to locate traffic signs at low resolution in the image from the wide angle camera. After detection, the system actively captures a high accuracy image of each detected traffic sign by controlling the direction and exposure time of the telephoto camera based on the information from the wide angle camera. Moreover, in classification, a hierarchical classifier is constructed and used to recognize the detected traffic signs in the high accuracy image from the telephoto camera. Finally, based on the proposed system, a set of experiments in the domain of traffic sign recognition is presented. The experimental results demonstrate that the proposed system can effectively recognize traffic signs at low resolution in different lighting conditions.