RS20110540A1 - STEREOSCOPIC SYSTEM AND PROCEDURE FOR DETERMINING DISTANCE AND SPEED - Google Patents

Abstract

Invention herewith described refers to the stereoscopic system and the procedure for the distance and speed determination which allows determining the distance and speed of an object at rest or when it moves in the known direction with regard to the axis of the system.

Description

STEREOSCOPIC SYSTEM AND DETERMINATION PROCEDURE

DISTANCES AND SPEEDS

(STEREOSCOPIC SYSTEM AND METHOD FOR DISTANCE AND SPEED

DETERMINATION)

TECHNICAL FIELD

The stereoscopic system and procedure for determining effort and speed, according to the invention, belongs to the field of photogrammetry and videogrammetry, i.e. image and video signal processing From various sources to transmit distance information, as well as speed determination systems that use reflection or re-radiation of electromagnetic waves other than radio waves to determine speed and direction of movement. Also, the invention belongs to the identification systems for traffic management, namely traffic control systems for identification of road users in road traffic, with equipment for determining speed and photographing vehicles. According to the International Patent Classification (IPC), the invention belongs to classes: G01C 11/00; G01C 11/36; G01S 17/58; G08G 1/0521G08G 1/054.

TECHNICAL PROBLEM

The stereoscopic system and procedure for determining effort and speed, according to the invention, solves the problem of implementing a system for determining effort, speed and direction of movement of objects whose direction of movement in relation to the axis of the system is known. A typical example of the use of such a system is in traffic where vehicles move in traffic lanes. There are more and more vehicles in traffic, and with the increase in the number of vehicles, the need for active traffic monitoring increases for more efficient traffic management and increased traffic safety. More efficient traffic management is possible if data on current vehicle speeds is provided in real time. Based on this data, it is possible, for example, to adapt traffic signals to the current traffic situation. A large number of traffic accidents are caused by inappropriate vehicle speed. In order to increase the safety of road users, or to improve the efficiency of traffic management, one of the ways is to use fixed or mobile traffic monitoring systems, with the possibility of detecting traffic violations, such as speeding, running through a red light, driving in an illegal direction, illegal turns and the like. Within these systems, different types of mechanical systems are used to determine the speed of the vehicle, for example speed determination systems using radio waves (RADAR), speed determination systems

using directional electromagnetic waves (LIDAR), and with fixed systems even more

different types of sensors embedded in the road surface. The aforementioned types of memes

vehicle speed detection systems are often coupled to imaging systems

data recognition, which automatically reads data from the register

the vehicle table, and the combined data sets form a common record of the detected vehicle, which

are used as evidence in court to prove that the vehicle was driven with it

with a license plate, at a given moment, at a given place, moving at a speed greater than

permitted, or for some other purpose. All mentioned systems for determining vehicle speed

have significant drawbacks. RADARs do not have sufficiently directed radiation, so they often

they happen to be challenged in court, especially if there are vehicles nearby at that moment

another vehicle. For the RADAR to function, it is necessary to have a significant amount of radio waves

radiation that can be detected from a sufficiently large distance, thus enabling

potential offender, if he has a suitable device for detecting radar radiation,

to reduce speed in time and avoid detection of violations. Also, there is a need for

additional synchronization of these two systems. LIDAR systems, because of the specific way

functioning, have a very limited application in terms of the possible work effort of

device to the vehicle in the zone of determining the speed of the vehicle, which usually amounts to hundreds

meters, thus limiting and making the application of the automatic system difficult

recognition of the registration number of the vehicle. Sensors embedded in the base require

construction works on the base itself, as well as connection to the remote rest of the system

which is located in a separate place. In addition to the described systems that are found in wide

use, one of the simplest ways to determine vehicle speed is directly

by processing data from images obtained from the system for taking images and recognition

data, which are used to read the data from the vehicle registration plates, which are usually

an integral part of the comprehensive system for traffic supervision and control. The lack

Such solutions are insufficiently precise, that is, the big mistake they make

determining the speed of the vehicle. This major flaw makes them impractical for most

application. Also, there are systems for determining the average speed of vehicle movement, code

which are placed in two separate locations with sensors that detect the passing of vehicles, and where, based on the known elapsed time, the average movement speed between

two observation zones. Generally speaking, these two zones can be the future

efforts that are measured in hundreds of meters and kilometers. With such systems

it is necessary to provide two locations for installation of equipment, as well as synchronization of separate systems. In addition to the aforementioned constraints in traffic, the stereoscopic system and procedure for determining the effort and speed proposed here can be used when it is necessary to determine the effort of the observed object, as well as the speed and direction of movement, in all applications where the direction of movement relative to the reference axis of the system is known.

STATE OF THE ART

The need to determine the effort and speed of moving objects has existed for a long time, so there are numerous examples of patents that describe ways to determine the effort and/or speed of moving objects, such as

U.S. Pat. No. 3,788,201, which describes a method for creating a photographic record, which includes determining the speed of a vehicle, using RADAR, or determining the relative proportions of the size of the vehicle in the photograph, in relation to a pre-known time interval;

German patent DE 2112325 describes an optical device for simultaneous measurement of the effort of a moving object and its speed in relation to a fixed reference point. The distance of the object is determined by measuring the delay of the laser beam, and the speed is determined by the shift in the frequency of the reflected wave;

German patent DE 2229887 (U.S. Pat. No. 3,954,335) describes an improved laser system that enables much faster measurement by introducing a reference plane and a reference periodic signal

German patent DE 2235020 (U.S. Pat. No. 4,195,425), describes a system for measuring the relative position and/or speed between two objects, in which electrical signals are generated with a frequency that is proportional to the relative movement of images obtained in at least two different positions, in relation to the optical system;

U.S. Pat. No. 4,236,140, describes the Doppler RADAR device, where the algorithm for checking the validity of the determined vehicle speed values has been improved;

U.S. Pat. No. 4,317,117, which describes a cross-correlated Doppler RADAR and infrared detector for determining vehicle speed;

Japanese patent JP 62-312192 (U.S. Pat. No. 4,908,704), describes a method and device for taking an image and determining the effort of a moving object, based on the size of the object in the image and its comparison with reference maps divided into blocks; U.S. Pat. No. 5,353,021, describes determining the speed of a vehicle in a tunnel, where

using known reference markers inside the tunnel

U.S. Pat. No. 5,742,699, describes a passive system based on a CCD camera,

where, in addition to determining the speed of the vehicle, images of the vehicle are stored, giving a lower sensitivity

at the tip of the corner in relation to the observer vehicle

Japanese Patent JP 11-041364 (U.S. Pat. No. 6,628,804), describes the processes

device for measuring vehicle speed, using a camera and calculating the horizontal

of vertical displacement, based on the known position of the camera in relation to the observed

field.

U.S. Pat. No. 6,696,978, describes a combined system using lasers

speed radar, connected to a camera that takes a picture of the license plate of the vehicle that

is moving at a speed above the permitted speed.

Patent application from Great Britain GB 2342800, describes the measuring system

vehicle speed using markers embedded in the base, on predefined

efforts.

U.S. Pat. No. 6,914,541, describes a mobile Illustration detection system

speeding and other traffic violations, as well as identification of traffic

offenders and the issuance of fines, by analyzing the collected images, which is completed in the center, on

based on pictures sent by conscientious citizens.

U.S. Pat. No. 6,985,827, describes a system using a laser vehicle speedometer

connected to the camera for taking pictures of the vehicle, and the local processor that provides

comparing the exhausted speed with the reference signal to the imaging camera, as well as taking the image from the camera.

U.S. Pat. No. 6,999,004, describes a system and method for vehicle detection and tracking

sunken, where the speed is determined by calculating the number of images obtained during the flow

monitoring

U.S. Pat. No. 7,075,625, Apparatus and Method for Determining Object Effort,

which contains projectors that emit coded shapes, and cameras, where the projector emits

coded shapes and based on the applied contents, the distance is determined by triangulation.

British patent GB 2438778 (U.S. Pat. No. 7,680,545), describes systems

a procedure for confirming the fatigued speed, where one of the existing systems is used for

speed measurement, such as laser or radar, fixed markers on known efforts, where

based on the measured speed, the moment the camera should take the picture is calculated.

U.S. Pat. No. 7,689,347, describes a system and procedure for traffic signal management, which uses a camera with the ability to move up-down, left-right, zoom-in, fast positioning and automatic focusing, and a processing unit that calculates the part of the image in which the vehicle is located and determines its size, speed and distance, in order to make a decision on control signals for traffic signals.

U.S. Pat. No. 7,924,409, a device and method for determining the effort of an object, in which a transparent plate with markers is placed between the lens system and the optical sensor, with the help of which the distance of the object is determined.

Taiwanese patent application TW 200937358, describes a device for determining the model and speed of a vehicle, where the cameras are placed perpendicular to the direction of movement of the vehicle.

PCT patent application VVO/2010/043252, describes the procedure and system for determining the speed of a vehicle that uses a vehicle passing detector, a speed measuring device and a camera, where the moment when the camera will take a picture is calculated based on the measured speed, and where every second, third or fourth line of the picture is used to speed up the processing of the picture.

DESCRIPTION OF THE INVENTION

In the following description, the invention will be presented in a simplified manner with possible implementations. The embodiments given serve to explain the principles of the invention, and in no way limit the scope of protection afforded by the claims below.

The stereoscopic system and procedure for determining effort and speed, according to the invention, solves the problem of determining effort and speed for the case when the object is at rest or moving in a known direction relative to the axis of the system. An example of the possible use of such a system is in traffic, where vehicles move in traffic lanes, and where in the observation zone, with a sufficiently small error, it can be approximated that the movement is in a straight line. In the case of a fixed system, during the installation of the equipment, it is necessary to calculate the angles, azimuth and elevation, under which the axis of the system is located in relation to the observed direction of movement, whereby the error of determining the effort and speed is smaller if <p>j these angles are smaller, while in the case of a mobile system, where for example the vehicle is a platform that provides mobility to the system, and where the object of interest is another vehicle, it is possible for the operator to enter information about the observed traffic lane, and to approximate the angles based on that. In this second case, the elevation angle is always the same, it depends on the choice of angle when mounting the equipment on the mobile platform, and

it is optimal for it to be zero degrees, that is, for the axis of the system to be parallel to the base

on which the mobile platform, i.e. the vehicle, is located, while the azimuth is determined at

based on the predefined width of the traffic lane, and for the simplest case when both are

vehicles in the same lane is also zero degrees. It is possible for the system on the vehicle to be

directed forward, and to determine the distance and speed of the observed vehicles in front

vehicle, or to be directed backwards, and to determine the distance and speed of the observed

vehicles behind the vehicle.

Stereoscopic system and procedure for determining the effortVelocity, according to

invention, is shown in the attached figures in which the same reference marks

denote the same device elements everywhere:

Figure 1 shows the basic geometry in the plane, where the points are represented

observations with the angles of the field of view, the object of interest with the associated vector

speed, speed projections in the x-y plane, and effort from observation points, axes

system, as the position of the calibration surface used to determine the parameters

system.

Figure 2 shows the mutual position and orientation of the reflective surfaces of the camera,

relevant system axes, as well as virtual camera positions.

Figure 3 shows the image obtained by the camera showing the object of

interest and relevant axes, such as the separation of this image into two half-images.

Figure 4 shows the calibration surface with reference points, a copy of this one

calibration surface obtained by the camera.

Figure 5 shows the calibration procedure during which the parameters Rc and Pc are determined,

necessary to determine the speed effort.

Figure 6 shows a flow chart for the procedure to determine the distance i

the speed of the object of interest.

Figure 1 shows the basic geometry in the x-y plane. The object of interest is 10

associated velocity vector v 11, with velocity vector projections vx 12ivy 13.1 with angle p

14 between the velocity vector v 11 and the system 30. The primary point is shown

observations 21, with primary observation axis 31, seconds observation point

22, with a secondary observation axis 32, and an effort d 20 between the primary 31I

secondary axes of observation 32. The shown axis of the system a 30, is in the common plane with

to the primary a' 31 and the secondary axis a" 32, the three axes are parallel, and the system axis a30 is located in the middle between the primary a' 31 and the secondary axis a" 32. Also, in Figure 1, the lines that define the visual fields of the primary 21 and secondary point are shown

observations 22. The field of view of the primary observation point 21 is located between the lines

36' and 36', while the field of view of the secondary observation point 22 is located between the lines

36" and 36". The angle between these lines represents the field of view of the primary observation point

21 and is marked with 6 23. Below the line 35" and above the line 36', to the right of their intersection

point in Figure 1, there is observation zone 38. Figure 1 also shows the position

calibration surface 80, which is in a plane normal to the axis of the system and 30 to it

the position of two characteristic points 81I82, which are located in the intersection of primama a' 31I

secondary axis a" 32, from the plane in which the callbration surface is 80. Projection on the y-axis

efforts from observation points 21 and 22, to the object of interest 10, is presented

marked R 40, while with Rk 41, the projection on the y-axis of the effort from the points

observations 21 and 22, to the calibration surface 70.

Figure 2 shows the primary 21 and seconds enlarged, compared to Figure 1

point of observation 22 with an effort between them d 20, and with its axes a' 31ia" 32,

as well as the axis of the system a 30. Figure 2 also shows the stone 50,i system

reflective surfaces 60, which in the case shown consists of four mirrors Pl' 61',

Ps' 62', Pl" 61" and Ps" 62", placed so that the camera gets a stereoscopic view of

viewing zone 38. Also shown are virtual cameras, primary 51i

seconds 52, whose optical sensors match the primary 21 and the secondary 22

observation point. The active surface of the optical sensor receives the camera 511 active

surface of the optical sensor of the secondary camera 52, are located in a common plane, so

that Im their axes that are normal to this plane are parallel and do not coincide with

osama a' 31Ia" 32. The size of optical sensors of virtual cameras along the x-axis is half

smaller than the x-axis size of the camera sensor 50, and the field of view of the camera 50 is double

greater than the field of view of one primary 51 and secondary virtual camera 52.1 is 29,

for the equivalence between these two alternative systems to hold. Camera 60 is located in

axis of the system a 30, and is placed so that One half of the image corresponds to the image that

receives a view that corresponds to the view from the primary observation point 21, primary

half image 77, while the other half of the image corresponds to the image that is obtained from the view that

corresponds to the view from the secondary observation point 22, half-seconds 78.

Alternatively, an equivalent system is obtained if instead of a camera 50isystem

reflective surfaces 60, let's put two cameras, primary and secondary, in place

virtual cameras 51 and 52, with each of these cameras having half the angle of view of camera 50, each having half the x-axis optical sensor size, and each directly receiving a primary 77 and a secondary half-image 78.

Figure 3 in the upper part shows what the image obtained with the camera 50 looks like, using the system of reflective surfaces 60, where the object of interest 10 is displayed, in the left part of the image represented by character 75, 1 in the right part of the image represented by character 76. The image shows the I axis of the image 70, as well as the axes for each of the half images 71 and 72. The axis of the image 70 is located on the half of the image and divides the image into two parts of equal size. Also, this axis intersects the system axis a 30, at a right angle. In the lower part of figure 3, it is shown how two half-images, primary 77 and second 78, are obtained from one image obtained by the camera 50, and how the x-coordinates Xp' 75 and Xp" 76, which correspond to the position of the character in the left, primary half-image l'(n) 77 and the character in the right, secondary half-image l"(n) 78, respectively, are in the range from 0 to Res/2, where Res is the overall x-axis resolution of the image.

Figure 4 in the upper part shows the calibration surface 80, which is normal to the axis of the axis a 30, and on which, in addition to the grid 83, which is generally used to correct deformations in the image, and which may look different, there are two characteristic points, the left 81, and the right characteristic point 82, which are at mutual effort d 20, and are located in the middle of the primary axis a<*>31 and the secondary axis a" 32 with the plane in which the calibration surface 80 is located. Also shown are the horizontal 85 and the vertical axis 86 of the calibration surface 80. The horizontal axis of the calibration surface 85 passes through the left 81 and the right characteristic point 82, and divides the calibration surface 80 into upper and lower parts, while the vertical axis, located exactly between the left 81 and the right characteristic point 82, normal to the horizontal axis 85, divides calibration surface on the left and right half of U in the lower part of figure 4 it is shown how the image l(0) 90 of the calibration surface 80 looks like, obtained by the camera 50, using the system of reflective surfaces 60,1 where the characters of the characteristic points 91a are shown. 91b, 92a and 92b, where points 91a and 92a are the characters of the characteristic points 81 and 82, respectively, in the left half-image, and points 91b and 92b are the characters of the characteristic points 81 and 82, respectively, in the right half-image. In the lower part of the image, the I-axis of the image 70, the axes of the left 71 and the right half-image 72, equivalent to the representation in Figure 3, are shown, as well as the primary and secondary characters of the network 83<*> and 83", in the primary and secondary half-image, which are used for optional calibration. In the axis of the primary half-image 71, is the projected content that coincides with the axis that is parallel to the vertical axis of the calibration surface 86, and which passes through the left characteristic point 81. Analogously, the axis of the secondary half-image 72, is the projected content that coincides with the axis

which is parallel to the vertical axis of the calibration surface 86, which passes through the right

characteristic point 82.

Figure 6 shows a block diagram of a system consisting of a camera 60,

processor units CPU 56 and memory MEMORY 66, as well as a reflective system

the surface 60 through which the camera 50 obtains a stereoscopic image of the observation zone 38.

Memory MEMORY 66 and processor unit CPU can be part of a separate

calculated 57, but can also be realized inside the camera 50. In this case

we are talking about smart cameras, where there may or may not be a CPU

in the conventional sense, based on RISC and CISC architecture, but the architecture of the processor unit can be even simpler, another example of the realized vision

FPGA technologies. The implementation of the camera 50 can be arbitrary, as the case may be

computer resources, as well as the issue of optical sensors on which it is based, which

they can be CCD, CMOS or other optical sensors, and the question of optics, i.e. lenses used with the camera, which can be both classic and solid

optical elements, as well as lenses based on liquid polymer materials.

The system can optionally have its own source of electromagnetic radiation, ie

source of svetJosti 59, which is also shown in Figure 5. The light source can be with

radiation in the visible part of the spectrum, the infrared part of the spectrum, and for special applications

it is possible to use ultraviolet or some other part of the spectrum, or a combination. The light source can be realized with LED technology, or with any other technology

depending on the application of the system. Cameras used in conjunction with these sources

lights must be sensitive to the spectral components of interest. Also, the system

it can be completely passive, Ida radiation present in the observation zone is used, or

combination, for example the use of thermal cameras at night and ordinary cameras during the day.

Figure 6 shows an alternative solution where instead of one camera601 system

reflective surfaces 60, use two cameras 51 and 52, according to the arrangement provided

stereoscopic view of the viewing area 38, together with the processing unit

CPU 55 and memory MEMORY 56. In this case, it is necessary that there is synchronization between the two cameras 51 and 52, in order to ensure that both cameras take pictures at approximately the same moments, so that the determination error

efforts should be as little as possible. In the picture, the SYNC 58 block represents the module which

provides synchronization, however the cameras themselves must be realized on

such a way that external synchronization is possible, and that there is an external signal by which synchronization is performed. Synchronization can be realized in other ways, for example, if the camera supports synchronization via the control interface, it is possible to synchronize the cameras directly from the CPU 56 processing unit, and in that case there does not need to be a separate SYNC 58 synchronization unit. When it comes to determining the speed, it is necessary to know the elapsed time interval between the moments when the images were taken on the basis of which the distance was determined. As in the case of the system with one camera 50, and the system of reflective surfaces 60, this alternative system can optionally have its own source of electromagnetic radiation, i.e. Light Source 69, which is shown in Figure 6.

Figure 7 shows the calibration procedure used to determine the parameters Rc and Pc, which are used in the equations for determining effort and speed. The first step is determining the effort of the calibration surface 100. During the system calibration procedure, the calibration surface 80 is placed, normally on the axis of the system a30, at the effort located in the observation zone 38. Using a conventional procedure, for example, with a laser range finder, a precise measurement of the effort of the calibration surface 80 is made, from observation points 21 and 22, thereby determining the parameter Rc. The next step is to take the reference images l'(0) and l"(0) 110, using the system that is the subject of the invention, then, optionally if there is Distortion, the images are corrected 120, and one approaches the determination of the effort in pixels between the characters of the characteristic points obtained in the images Xp'1(0) and Xp'2(0) 130. Finally, the parameter Pc is obtained as the absolute value of the difference Xp'1(0) and Xp'2(0)140, ie Pc=|Xp'1(0)-Xp,2(0)|. From the figure l"(0) the values for Xp"1 and Xp"2 are obtained in the same way, and their difference gives the same result for Pc.

Figure 8 shows the procedure for determining effort and speed. The first step is to take image l(n), or images l'(n) and l"(n) if it is a two-camera system, 200, where n indicates the iteration in question, then, optionally if there is distortion, the images are corrected 120, and if it is a single-camera system 50 and a reflective surface system 60, checking 210, the resulting image is divided into two half-images l'(n) and P(n). in the image we receive] by processing and analyzing the image, the image of the object of interest 10 is searched for. If the object is not found in the given primary half-image, the whole procedure is repeated, that is, it moves with the next iteration. Xp<*>260 positions of characters found 76I76, and the basis is determined

object distance using the form R-Rc*Pc/lXp'-Xp"| 270. where Rc are IPckonstants

systems that are determined in the previously described manner. If the same object does not exist on

in the previous picture, we don't have the previous distance, so we can't determine the speed of 280, but

If the same object exists on the previous sicl, the speed of 290 is calculated based on it

current AND previous position, AND based on the known elapsed time between the two

of the moment of taking pictures, i.e.vy=(R(n)-R(n-1)yALN||it is necessary to know the moments of taking pictures t1 and t2, but it is enough to know the time interval between those two moments At

The distance and speed determined in this way represent the distance between two parallel lines

plane, one in which the observation points are 21 and 22, and the other parallel plane in which

finds an object of kiteres 10, i.e. the projection of effort and speed on the y-axis. For

obtaining the total effort of the speed is necessary until the expression is divided by the coslnus

angle p 14 at which the object is located in relation to the axis of the scheme a 30, if they are on the same plane

x-y, and if they are not in the same x-y plane, the object is located outside the x-y-equal relation to the axis of the system a 30 according to the additional principle of adjustment with the coslnus of the angle of the subcomposite.

Because of the above, for determining the distance and speed of the object from Interest 10 herewith

system, it is necessary to know the direction in which the object of Interest 10 is moving

relative to the axis of the system a 30. Similarly, if only the distance is determined,

it is necessary to know the direction in which the object is located. Greek determination

effort and speed will be higher if the angles between the axis of the system are 30 and the direction

movement of the object from Interest 10 greater. An example of the application of such a system is in traffic

where the vehicles move in deflntoanirn directions, i.e. traffic lanes, and where Is

it is possible to achieve very good results, i.e. small errors, for a wide range of speeds,

a great advantage of the system for determining the speed and distance, based on a single camera

60 And the mirror system 60 Is in that there is no need for slnchrontzacg, when It is in

when it comes to determining the effort at a moment, then the primary'(n)77 and the secondary'(n)slfca 78 are taken with the same camera 60, i.e. simultaneously.

if a system with two cameras 61, 62 is used, without a mirror, it is necessary to take care

oslnchronlzadp these two cameras, Because non-simultaneous taking of primameT(n)77Isecondarynel"(n)sllce 78, directly affects the increase of the effort determination greik,

and therefore speed.

Claims (11)

1. Stereoscopic system for determining effort and speed includes: - camera; - unit for processing images received from the camera; and - memory, characterized by the fact that it contains a system of reflective surfaces, through which the camera has a stereometric view of the observation zone, such that the image projected onto the optical sensor of that camera consists of two half-images that are equivalent to the images obtained by two virtual cameras placed so that the surfaces of the optical sensors are in a common plane, and with mutually parallel axes, which are normal to this plane, whereby the field of view of two virtual cameras is half the field of view of one camera, and the resolution along the x-axis of two virtual stone half the resolution of a single camera. 2. The system according to claim 1, indicated by the fact that the system of reflective surfaces is composed of elements that can be from the group that includes: - mirrors; - mirrors where the front surface is reflective; and - reflective prisms. 3. The system according to claim 1, characterized by the fact that in a variant solution the camera and the system of reflective surfaces can be replaced by two cameras, which are placed in such a way that they occupy the same mutual position and orientation as the virtual cameras in the case of a system with one camera and reflective surfaces. 4. The system according to claim 3, characterized by including a camera synchronization circuit, which ensures that both cameras image the observation zone Simultaneously, and which is in communication with the processing unit. 5. The system according to claim 1 or 3, indicated in U. The described system also contains a light source that illuminates the observation zone, so that the electromagnetic waves of this light source reflected from the object of interest are detected by a camera. 6. The system according to claim 5, characterized in that the described light source contains one or more light-emitting diodes (LEDs). 7. The system according to claim 5, indicated by the fact that the described light source radiates in the electromagnetic spectrum, which can be from the group that includes: - visible spectrum; - infrared spectrum; and - ultraviolet spectrum. 8. The system according to claim 1 or 3, indicated by this, is used to determine the effort and speed of the vehicle, where when calculating the effort and speed, the position and orientation of the described system is taken into account in relation to the roadway on which the vehicles move. 9. The procedure for determining effort and speed, indicated by the processing of data from the images obtained from the stereometric Source, the images are corrected, in accordance with the calibration parameters obtained in the calibration process, the object of interest is selected for which the x-coordinates corresponding to the selected object are extracted, for each of the views, in one, two or more moments, and based on the data obtained in the calibration process, the distance is calculated, and in the case of taking several consecutive images, the speed, on the basis of the elapsed effort and the known elapsed time between the moments of painting. 10. The procedure for determining effort and speed, indicating that the image from one camera, obtained stereoscopically, is divided into two half-images, so that each half-image represents one view of the observation zone. 11. Procedure for determining effort and speed, indicated by the fact that the distance and speed of the object of interest is determined both for objects moving away and for objects approaching the system, whereby the direction of movement is determined based on a successive comparison of certain efforts, where the direction is positive if the distance increases, and negative if it decreases.