Statistical Profile Generation for Traffic Monitoring Using Real-time UAV based Video Data

Transcription

1 Proceedig o he 5h Medierraea Coerece o Corol & Auomaio, July 27-29, 27, Ahe - Greece 34-7 Saiical Proile Geeraio or raic Moiorig Uig Real-ime UAV baed Video Daa A. Puri, K. P. Valavai ad M. Koii Deparme o CSE, Umaed Syem ab, Uiveriy o Souh Florida, ampa, F 3362 USA Abrac he eye-i-he-y aleraive o collecig real-ime emporal/paial daa uig mall umaed helicoper i propoed o: moior raic, evaluae ad ae raic paer ad provide accurae vehicle cou. Colleced real-ime viual daa are covered o raic aiical proile ad ued a coiuouly updaed ipu o exiig raic imulaio model improvig calibraio, accuracy (i erm o variable parameer value) ad uure raic predicio. Fucioaliy o imulaio model i ehaced, ad reliabiliy i improved. he propoed approach oer igiica advaage over coveioal mehod where hiorical ad oudaed daa i ued o ru poorly calibraed raic imulaio model. Keyword umaed helicoper, viual daa, raic moiorig, raic imulaio model. h l g a d l i o i, () i,, x d r o d o,d o,d Space Headway egh o ir vehicle Accepable Gap i legh Nomeclaure Average legh o vehicle Number o vehicle currely i he ewor Occupacy Flow Mea Speed o vehicle i ewor oal umber o lae ravel ime o he i h vehicle i he h lae oal ime period uder obervaio Number o vehicle i lae a ime Free low peed Spaial deiy Speed o i h vehicle i he h lae emporal deiy (Peudo-) paial-emporal deiy Widh o Virual Deecor egh o Virual Deecio Frame Number o vehicle i he h lae Origi ode Deiaio ode Number o vehicle wih origi o ad deiaio d ravel ime or vehicle wih origi o ad deiaio d I. INRODUCION Small umaed helicoper oer a ovel, viable ad co-eecive oluio o he problem o collecig paial ad emporal real-ime, dyamic, video-baed raic ewor daa. Aumig ha helicoper modelig corol ad avigaio iue have bee olved, i ha bee how ha a eam o uch mall ele-operaed / emi-auoomou umaed helicoper, each equipped wih a ully auoomou pa-il camera viio yem may be ued o: rac idividual vehicle; rac he ae movig capured vehicle; loc i a peciic vehicle dicaed by a huma operaor who view capured video daa; provide vehicle cou; moior raic over a ierecio or road egme or peciic raic ewor; evaluae ad ae raic paer, ad improve raic maageme [], [2]. Mo imporaly, uch a yem may be ued or emergecy repoe where helicoper ly o he cee o a accide ad provide viual daa o emergecy repoe eam who ca he mae imely iormed deciio. I hor, aerial vehicle are beig ued or raic daa collecio ad urveillace []. he ovel idea preeed i hi paper ocue o he ac ha colleced video daa may be icorporaed io raic imulaio model improvig real-ime raic moiorig ad corol. Video daa may be ued o evaluae raic paer over choe area, udy poible ewor ehaceme, updae ad calibrae raic imulaio model uch ha real-ime chage i a urba raic yem will be capured ad dicrepacie bewee acual/imulaed raic codiio will be miimized. he way o impleme hi idea i by coverig colleced video daa io ueul raic meaure ha ca be combied o obai eeial aiical proile or raic paer. I eece, ollowig he propoed approach, raic parameer uch a mea-peed, deiy, volume, urig raio, origi-deiaio marix, o ame a ew, may be derived accuraely ad be ued o improve predicio o raic behavior i real-ime. Emergecy repoe raegie ad corol o raic uig adapive ierecio igal corol, ramp meerig or variable meage ig ca alo be plaed ad opimized i realime. Derived parameer beig dyamically updaed may erve a ipu o commercial raic imulaio model. I i impora o emphaize ha raic imulaio model play a impora role i maagig ad evaluaig raic ewor. raic egieer rely o accurae predicio o uure raic red baed o oupu rom uch model. Hece, calibraio ad updae o hee model become a very impora ad criical cocer. Sice curre eor uch a iducive loop are uable o provide deailed daa or uch model, ad ice daa collecio ollowig coveioal echique i a highly exhauive ad ieive procedure, moly hiorical ouo-dae daa i ued or calibraio o hee model. hereore, he propoed aleraive mehod i uiied. A hi age o he reearch, he helicoper (helicoper) i (are) aumed o hover over ierecio area, or above

2 Proceedig o he 5h Medierraea Coerece o Corol & Auomaio, July 27-29, 27, Ahe - Greece 34-7 a peciic ree egme, ha i, he ource i ixed. hu, oly a cerai regio o he ewor i viible o he camera. A a laer age, muliple helicoper will ly a he ame ime o cover a wider area o he ewor. he image will be uperimpoed o obai a complee picure o he ewor. Secio II dicue relaed reearch, while Secio III ummarize o-board ad o-he-groud proceig udameal. Secio IV ocue o he geeraio o aiical proile, ad Secio V pree reul. II. REAED WORK he icreae i umber o vehicle o roadway ewor ha ecouraged rapor maageme agecie o allow ue o echology advace ad iovaive oluio o obai daa o raic red o moior ad corol raic i real-ime. Curre mehod uch a deecor embedded i paveme or peumaic ube, ad camera moued o ower have prove o be expeive ad ime-coumig. Moreover, hee mehod provide poi-baed daa ice oly a cerai poi or regio o he ewor i argeed. UAV provide he bird eye view obaiig emporal-paial daa or ewor urveillace. Saellie were iiially coidered or raic urveillace purpoe, bu he raiory aure o aellie orbi mae i diicul o obai he righ imagery o addre coiuou problem uch a raic racig [7]. Alo, cloud cover hamper good image qualiy o day wih bad weaher. Maed aircra are deemed expeive or raic urveillace udie ad are o-operaioal i evere weaher a well a poeially uae evirome due o preece ad aey cocer o operaor. Umaed helicoper o he oher had, ca ly a low aliude ad do o ivolve ri o operaor. hey may be employed or a wide rage o raporaio operaio ad plaig applicaio uch a icide repoe, moior reeway codiio, raic igal corol coordiaio, raveler iormaio, emergecy vehicle guidace, vehicle racig o ierecio, meaureme o ypical roadway uage, ad eimaio o Origi-Deiaio (OD) low [3]. O-goig reearch proec propoe echologie ha improve urveillace echique or raic maageme. ravel ime eimaio algorihm uch a Exrapolaio mehod ad Plaoo machig have bee developed baed upo meaurable poi parameer uch a volume, lae occupacy ec. image machig algorihm are ued o mach vehicle image or igaure capured a wo coecuive obervaio poi. Oher echique ue image eor o meaure raic low parameer [4], [5]. III. HARDWARE, ON-BOARD/OFF-INE PROCESSING Each helicoper i equipped wih cuom made viio yem or o-board ad o-he-groud daa proceig, pa-il camera or dyamic racig ad car-ollowig, oher eor ad miio peciic coroller or robu hoverig over ierecio ad aiged arge area. A cuom made yem i how i Figure. Helicoper lie he oe how i Figure may be ued o ly o ad hover over choe ierecio or imulaeou video daa collecio, ad o collec video daa over urace ree egme, raic corridor, or highway egme. he ued (ully ucioal) viio yem ha o-board ad o-he-groud proceig capabiliie or image abilizaio, obec exracio, localizaio, moio eimaio, groupig, ewor geomery exracio, vehicle racig ad raic paer, o op o ad i addiio o a robu helicoper corol yem. Figure. Cuom-made Umaed Helicoper wih O-board Viio yem ad coroller. Figure 2 how he diere module ivolved i he image proceig proce []. he abilizaio module overcome vibraio ihere i a VO vehicle. he moio exracio module gaher iormaio rom he Ierial Meaureme Ui (IMU) o exrac he movig obec rom he image, he coiguraio o which i relaive o he camera. he eaure exracio module i ued o elec eaure rom he image equece ha mo liely provide a much iormaio a poible, uch a edge ad lie ha ca be mached o auomobile or o he ilhouee o he road. he eaure groupig module group he eaure geeraed by he eaure exracio module o allow or cee ierpreaio. Image rom Camera IMU & GPS Daa Sabilizaio Moio Exracio Evirome Seup raic Saiic Feaure Exracio Figure 2. Bloc diagram o he image proceig module Feaure Groupig Vehicle racig o ully exploi he capabiliie o he helicoper (mobile) plaorm, he viio yem i deiged o adap o diere eviromeal eup. he eviromeal eup elecio module coai algorihm o achieve hi auomaically. he rucure coaiig he grouped eaure are raced i he vehicle racig module hrough he image equece o eimae he raecory each vehicle ollowed. Fially, he raic aiic module receive all he iormaio creaed i he yem ad cover i o aiical meaure. hi module i able o cou he oal umber o vehicle or urig vehicle a

3 Proceedig o he 5h Medierraea Coerece o Corol & Auomaio, July 27-29, 27, Ahe - Greece 34-7 ierecio baed o he eimaed vehicle raecorie ad he exraced local ewor geomery. IV. GENERAING SAISICA PROFIES Colleced video daa are exploied o obai deailed iormaio abou he raic low i geeral. Relaed raic parameer are ormulaed ad modiied baed o iormaio exraced uig aerial video daa. Figure 3 how he propoed ad uilized cocepual ramewor. he real world raic ewor bloc depic he phyical raic ewor. he gray bloc depic he uilizaio o umaed helicoper ad he o-board/ohe groud image proceig yem. raic parameer are geeraed ad ed o a raic imulaio model, which will he be ued or modelig raic codiio. Oce he model i calibraed o accommodae a curre raic paer, meaure o raegic eecivee are icorporaed o mae improved deciio i real-ime. Hiorical Daa raic model imulaio Real World raic ewor - Ieraive procedure or calibraio o raic model parameer Model raic Codiio e parameer Collec realime - raic daa uig exiig device Real-ime raic corol iormaio proviio ad emergecy corol Collec - real ime video rom UAV Cover video image io raic daa Geeraio o e parameer or raic model Opimal raegy Capaciy ad Occupacy: Capaciy o a li may be deermied baed o he pace headway ad accepable gap: d l + ( l + g ) (2) i i i hu, he oal capaciy o he li become +. Alo, he occupacy o he li uig emporal daa rom a aic image may be give a: o (3) + Figure 4. Calculaig Accepable Gap uig Viual Daa Saiical coverio ivolve placeme o virual deecor (VD) a he begiig ad ed o each li a how i Figure 5. a raic model imulaio Meaure o raegy eecivee Geeraio o raic corol, raic iormaio raegy Figure 3. Cocepual Framewor o Real-ime Video Daa Collecio ad raic Simulaio Corol Cuomized raic parameer hould ad are obaied baed o each raic ewor egme uder coideraio. Colleced raic video paial-emporal daa i real-ime provide microcopic deail o idividual vehicle. Kowledge o ime ad poiio (pace) o a vehicle allow or raecory ploig ad racig o hee vehicle. Such iormaio may be very ueul i carollowig udie. he accepable gap i a car-ollowig behavior may be calculaed baed o Figure 4. I i impora o oe ha i a dowow area he accepable gap i much maller ha elewhere, bu he idea i he ame. hu, he accepable gap i calculaed uig equaio: h l + g a () Oher raic relaed parameer may be calculaed a ollow. Figure 5. Virual Deecor o begiig ad ed o each li hee VD ac a poi deecor where each vehicle ery i recorded helpig i deermiig he pah o he vehicle. hi i ur i helpul o calculae he urig moveme ad he origi-deiaio (O-D) marix. Mea Speed o Newor Mea peed,, may be calculaed by obervig he ravel ime o idividual vehicle hrough he li: dl d l (4) i i, i i, wih d l VD 2 - VD. Flow Flow,, i give by he umber o vehicle paig hrough a cerai poi i he ewor i a give ime period ():

4 Proceedig o he 5h Medierraea Coerece o Corol & Auomaio, July 27-29, 27, Ahe - Greece 34-7 ( ( ) ( )) hereore, he dyamic occupacy o a li i deied baed o he raic low ad peed a ollow: * li o (6) Deiy Calculaig deiy o a paricular li or ewor ha prove o be very diicul give ha poi deecor are uable o eep rac o vehicle currely pree o a li. Video daa eable u o calculae deiy uig paial, emporal, a well a (peudo)-paial-emporal mehod. o calculae paial deiy, a virual deecor o widh x i placed a ay poi o he li a how i Figure 6. Figure 6. A Virual Deecor o x o calculae paial deiy he paial deiy ca be calculaed a: i i, (7) * x x i i, i i, (8) * x emporal deiy i calculaed uig a Virual Deecio Frame (VDF) a how i Figure 7. hi mehod, i ac, ue a igle ill-image a oe ime ad calculae he vehicle pree iide he VDF. (5) Uig a VDF o legh d r, he equaio or emporal deiy become: d r (Peudo-) Spaial-emporal Deiy Baed o he wo calculaed meaureme, he paialemporal deiy may be obaied by repeaig he procedure over a ime period. hu, emporal deiy i calculaed or each ime ui or a period o ime (or example: oe hour), ad he average deiy, ca be calculaed a:, d r d * d r (9) d () urig Moveme/Origi-Deiaio I i eeial or raic plaer o ow a eimae o umber o vehicle paig hrough a ierecio. I i alo eceary o ow he raio o urig vehicle (le, hrough or righ) or igal imig ad corol purpoe. Preely, urig moveme are calculaed uig maual cou oly. hi raio ca however be calculaed by racig every idividual vehicle hrough a ierecio, uig he racig algorihm. A meioed earlier, VD are aiged a ar ad ed poi o li. Each vehicle i he ewor i agged wih i ideiy umber, id, ime o arrival ad poiio a each VD i goe hrough. For example, Figure 5 depic a ierecio wih eigh VD o record he moveme o vehicle. A vehicle ha eer he ewor hrough VD ad ur le will be aiged he pah VD -VD 2 -VD 7 -VD 8 ad o o. hu, o id he urig moveme or all vehicle wih ag VD 2, he pah o each vehicle mu be checed. hu, he urig moveme will be give by he raio VD 2 VD 7 :VD 2 VD 3 :VD 2 VD 6. OD marix i eeial o aalyze he ravel behavior or a give ewor. OD udie are beeicial or obervig raic paer, a hey are idicaive o he driver preerred pah rom a peciic origi o a peciic deiaio. Vehicle will be alo raced rom he mome hey eer he ewor uil hey leave i a how i Figure 8. Figure 8. A ewor wih muliple OD ode Figure 7. A Virual Deecio Frame o calculae emporal deiy Each ode ac a boh a origi ad a deiaio. Whe a vehicle eer he ewor hrough a ode, i ge agged by i ource o origi. I pah i ollowed, ad

5 Proceedig o he 5h Medierraea Coerece o Corol & Auomaio, July 27-29, 27, Ahe - Greece 34-7 ially whe i leave he ewor, i ge aiged wih he deiaio poi. ravel ime o each vehicle or every OD pair will be oberved ad abulaed. Aumig o,d be he umber o vehicle wih origi o ad deiaio d. Figure 9 how a iaiaio o a OD marix ha ca be ormed rom Figure 8. Same ype o able ca ued o repree he ravel ime o,d or vehicle o eer ad exi he ewor. evirome; or he experimeer ca maually place he box o he deired deecio regio. I i criical ha he boxe do o overlap he ame regio o iere, ad he ame vehicle hould o be coued by boh he VD. Sill, here ca be excepio whe a vehicle rie o chage lae i he deecio zoe. Figure illurae how hee deecor are implemeed baed o he propoed approach. he colored boxe how VD or diere lae. I may be oed ha becaue o iabiliy acor o he helicoper, hee boxe eem o be hied acro he lae i igure. hi lead o oe vehicle beig coued by wo deecor, which lead o vehicle cou error. Furher image abilizaio will produce much beer ad accurae reul. Figure 9. OD Marix or mall ewor I cae o large ewor, each origi or deiaio ode or a zoe will be coidered a a ceroid o he zoe [6]. Wih curre echology, eimaig hi ceroid poi i o accurae. Wih help o aerial daa, i will be eaier o accuraely calculae ceroid o he zoe baed o deiy o he zoe. Delay Delay i a very impora compoe o raic behavior. A ewor wih miimum delay implie a ree low ewor wih low ravel ime. Delay ca be eiher recurre (due o boleec, pea-hour) or emporal (due o a icide/accide ec). Delay ca be accoued due o icreaed occupacy o he ewor which lead o peed lower ha ree low peed. I i raher very hard o calculae delay uig coveioal mehod o loop deecor. Coiderig ha every vehicle i recorded or ime ad poiio hrough he ewor, delay may be calculaed a: * d d Delay i i, i i, i i, () Figure. Colored boxe how implemeaio o virual deecor i he image proceig echique. Sychro i ued o imulae a raic ewor o he USF campu. Newor geomery wa validaed uig he Google Earh oware, while pecial aeio wa paid o urig lae. Volume calculaed rom he obaied daa are ipu o he imulaio model. Figure pree he real raic ewor buil uig Sychro 6. Depedig o applicaio, oher releva parameer may be deied ad meaured / eimaed. V. RESUS AND RECOMMENDAIONS Saiical proile geeraed uig he previouly derived equaio erve a ipu io imulaio model o updae he raic parameer i real-ime. Such procedure lead o beer ad opimized reul rom hee model, which will improve he accuracy o imulaed reul a well a dimiih dicrepacie bewee oberved ad imulaed raic daa. Virual deecor are implemeed a colored boxe i he image proceig algorihm. Each lae ha i ow correpodig box, which i repoible or deecig every vehicle paig hrough i. he boxe ca be eiher auomaically placed aer he yem recogize he road Figure. he USF campu ewor uig Sychro Daa wa colleced uig a umaed helicoper wih a ully auoomou pa-il viio yem wih oe camera moued o he helicoper hoverig over he ierecio o Alumi Dr. ad eroy Colli Drive i he morig hour rom 7: AM o 8: AM. Cou/volume were exraced ad ipu io Sychro o updae he raic behavior. Figure 2 how he volume, average peed, ad urig moveme o he oberved area.

6 Proceedig o he 5h Medierraea Coerece o Corol & Auomaio, July 27-29, 27, Ahe - Greece 34-7 Volume Speed Volume 7.am 7.am 7.2am 7.3am 7.4am 7.5am ime Eaboud Weboud Norhboud Souhboud Average Speed 7.am 7.am 7.2am 7.3am 7.4am 7.5am ime urig Moveme (Eaboud raic) 4 2 Number o 8 Vehicle am 7.am 7.2am 7.3am 7.4am 7.5am ime urig Moveme (Weboud raic) 2 8 Number o 6 Vehicle am 7.am 7.2am 7.3am 7.4am 7.5am ime EB EB EBR WB WB WBR NB NB NBR SB SB EBR EB EB WBR WB WB I ca be oberved ha he raic ollow a cerai red depedig o he direcio o ravel. Sice he daa i or oly oe hour (due o limiaio o lyig ime), ad cover oly oe ierecio, maor deviaio i raic are o oiceable. hough, i ha o be poied ou, ha hi eor i o how ha impora iormaio ca be exraced ou rom readily available video daa. I he uure, he lyig ime ad he obervable area ca be icreaed maively. Fuure wor eed o be doe wih muliple helicoper hoverig o diere ierecio collecig daa imulaeouly. he combied daa eed o be ipu io he imulaio model o geerae a overall proile o he raic ewor. Alo, wor eed o be doe o calculaig aiic whe he helicoper i i a movig ae, ha i, he image ource i alo movig. Acowledgeme: hi reearch ha bee parially uppored by a ARO Gra W9NF-6--69, a SPAWAR Gra N39-6-C- 62, ad a Hillborough Cou Gra he auhor would alo lie o ha Dr. P-S. i or hi comme. REFERENCES [] P.-S. i, A. Puri,. Hage, ad K. Valavai, Auoomou raormaio o video image daa rom UAV io raic iormaio or imulaio model calibraio, 3 h IS World Cogre, odo, Ocober 26. [2] A. Puri, K. Valavai, ad M. Koii, Geeraig raic Saiical Proile Uig Umaed Helicoper-Baed Video Daa, o appear i IEEE I. Co. o Roboic ad Auomaio, April 27. [3] B. Coima, M. McCord, R. Mihalai ad K. Redmill, Surace raporaio urveillace rom umaed aerial vehicle, Proceedig 83 rd Aual Meeig o he raporaio Reearch Board, Ja 24. [4] Z. Yi, F. Yag, H.X. iu, ad B. Ra, Uig Image Seor o Meaure Real-ime raic Flow Parameer, 24 RB Aual Meeig. [5] M.Y. Siyal, ad M. Fahy, Real-ime Meaureme o raic Queue Parameer by Uig Image Proceig echique, 5 h I. Co. o Image Proceig ad i Applicaio, 995. [6] Y. Shei, Urba raporaio Newor: Equilibrium Aalyi wih Mahemaical Programmig Mehod, Preice Hall, NJ. [7] D.W. Murphy, he Air Mobile Groud Securiy ad Surveillace Syem (AMGSS), Proc. O h Aual ADPA Securiy echology Sympoium, 994. Figure 2. Volume, Average Speed ad urig moveme o Alumi Dr. ad erroy Colli Dr.