Black Ice detection system using Kinect

An ice detection system is designed using an imaging sensor which has a forward field of a view direction. The proposed system solves the problem of detecting the Black Ice on various surfaces using a depth imaging sensor based on Kinect device. In some places where ice cannot be seen easily from a distance, especially in low visibility, by a human eye, it would be highly dangerous and causes slip. The designed system can detect the forming ice at a distance from 82cm up to 1.52m from the camera. Ice detection system has been tested in five different backgrounds: wood, glass, ceramic, plastic and concrete, and indeed it showed high proficiency.