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Measuring the amount of vegetation in a given area on a large scale has long been accomplished using satellite and aerial imaging systems. These methods have been very reliable in measuring vegetation coverage accurately at the top of the canopy, but their capabilities are limited when it comes to identifying green vegetation located beneath the canopy cover. Measuring the amount of urban and suburban vegetation along a street network that is partially beneath the canopy has recently been introduced with the use of Google Street View (GSV) images, made accessible by the Google Street View Image API. Analyzing green vegetation through the use of GSV images can provide a comprehensive representation of the amount of green vegetation found within geographical regions of higher population density, and it facilitates an analysis performed at the street-level. In this paper we propose a fine-tuned color based image filtering and segmentation technique and we use it to define and map an urban green environment index. We deployed this image processing method and, using GSV images as a high-resolution GIS data source, we computed and mapped the green index of Milwaukee County, a 3,082 $$k{m^2}$$ urban/suburban county in Wisconsin. This approach generates a high-resolution street-level vegetation estimate that may prove valuable in urban planning and management, as well as for researchers investigating the correlation between environmental factors and human health outcomes.