VRU-TOO: Micro-Level Behavioural and Conflict Changes in the VRU-TOO Pilot Projects. Deliverable 15.

This report describes the results of an evaluation of pilot project pedestrian detection systems installed in three different European cities at in total six different sites. The implemented systems had the improvement of safety and comfort of pedestrians as objectives. The systems provided early detection of pedestrians approaching the crossing facility and detection of the presence of pedestrian on the crossing facility, allowing the onset of a pedestrian green phase or an extension of such a green phase. The evaluation involved the registration of pedestrian behaviour and pedestrian-vehicle encounters and conflicts. Pedestrian behaviour was recorded on videotape, conflicts were scored on the spot by trained observers. The behaviour recorded on videotape was later analysed using approach speed, nonnative behaviour and appropriate use of the crossing facilities as main indicators. In addition, pedestrian signal settings were recorded for each crossing. The evaluation design used a beforelafter measurement design with the after measurements being taken at least two weeks after the system implementation. The results indicated that although red light violations were reduced at some sites, they remained at a high level. The implementations had some positive effects on the normative behaviour of pedestrians. The percentage of pedestrians getting involved in encounters with motorized traffic was reduced at one site, increased at another and remained unchanged at the other sites. A significant reduction in conflicts was observed at several sites, but at other sites conflict occurrence remained unchanged. The system implementations had a very distinct positive effect on pedestrian delay. Required waiting times were reduced at all but one site and at some sites the reductions were substantial. Pedestrian comfort was also improved by an increase in the percentage of pedestrians arriving durhg the pedestrian green phase and the percentage being able to complete their crossing during pedestrian green. In summary, the evaluation study demonstrated that some safety effects and substantial effect on comfort were achieved by the implementation of the systems. The effects can be further optimized by selecting sites that fulfil specific requirements for successful implementation. Red light violation by pedestrian remains a serious safety problem and further studies should be undertaken how further reductions can be achieved by optimizing signal settings

Real-Time RGB-D based Template Matching Pedestrian Detection

Pedestrian detection is one of the most popular topics in computer vision and robotics. Considering challenging issues in multiple pedestrian detection, we present a real-time depth-based template matching people detector. In this paper, we propose different approaches for training the depth-based template. We train multiple templates for handling issues due to various upper-body orientations of the pedestrians and different levels of detail in depth-map of the pedestrians with various distances from the camera. And, we take into account the degree of reliability for different regions of sliding window by proposing the weighted template approach. Furthermore, we combine the depth-detector with an appearance based detector as a verifier to take advantage of the appearance cues for dealing with the limitations of depth data. We evaluate our method on the challenging ETH dataset sequence. We show that our method outperforms the state-of-the-art approaches.Comment: published in ICRA 201

Trials with Microwave Detection of Vulnerable Road Users and Preliminary Empirical Modal Test. DRIVE Project V1031 Deliverable 11.

The general objective of the project is to provide a set of tools for the creation of traffic systems that enhance the safety and mobility of vulnerable road users (VRUs). This is being achieved in two ways: 1. By evaluating a number of RTI applications in signalling and junction control, in order to ascertain what benefits can be obtained for vulnerable road users by such local measures. 2. By developing a model of the traffic system that incorporates vulnerable road users as an integral part. The present workpackage, one of the last ones within the project, is intended to link the two strands together. The workpackage consists of two main parts: 1. Experiments with pedestrians and bicyclists. Two experiments were carried out, one in England (Bradford) and one in Sweden (Vijrjo), both applying microwave detectors for detection of pedestrians in a signalized intersection, but applying the detection in different ways. An observational study was carried out in Groningen (the Netherlands) to analyze bicycle/car interactions at an intersection with a cycle path. The aim of the experiment was to test the usefulness of a system giving car drivers warning in situations when a bicyclist approaches an intersection on a parallel bicycle path. 2. Reliability and validity testing of the submodels of the VRU-oriented traffic model WLCAN

Towards a Practical Pedestrian Distraction Detection Framework using Wearables

Pedestrian safety continues to be a significant concern in urban communities and pedestrian distraction is emerging as one of the main causes of grave and fatal accidents involving pedestrians. The advent of sophisticated mobile and wearable devices, equipped with high-precision on-board sensors capable of measuring fine-grained user movements and context, provides a tremendous opportunity for designing effective pedestrian safety systems and applications. Accurate and efficient recognition of pedestrian distractions in real-time given the memory, computation and communication limitations of these devices, however, remains the key technical challenge in the design of such systems. Earlier research efforts in pedestrian distraction detection using data available from mobile and wearable devices have primarily focused only on achieving high detection accuracy, resulting in designs that are either resource intensive and unsuitable for implementation on mainstream mobile devices, or computationally slow and not useful for real-time pedestrian safety applications, or require specialized hardware and less likely to be adopted by most users. In the quest for a pedestrian safety system that achieves a favorable balance between computational efficiency, detection accuracy, and energy consumption, this paper makes the following main contributions: (i) design of a novel complex activity recognition framework which employs motion data available from users' mobile and wearable devices and a lightweight frequency matching approach to accurately and efficiently recognize complex distraction related activities, and (ii) a comprehensive comparative evaluation of the proposed framework with well-known complex activity recognition techniques in the literature with the help of data collected from human subject pedestrians and prototype implementations on commercially-available mobile and wearable devices

Assessment of the Effectiveness of the Greek Implementation. VRU-TOO Deliverable 14

The work of VRU-TOO is targeted specifically at the application of ATT for reducing risk and improving comfort (e.g. minimisation of delay) for Vulnerable Road Users, namely pedestrians. To achieve this, the project operates at three levels. At the European level practical pilot implementations in three countries (U.K., Portugal and Greece) are linked with behavioural studies of the micro-level interaction of pedestrians and vehicles and the development of computer simulation models. At the National level, the appropriate Highway Authorities are consulted, according to their functions, for the pilot implementations and informed of the results. Finally, at the local level, the pilot project work is fitted into specfic local (municipality) policy contexts in all three pilot project sites. The present report focuses on the Elefsina pilot application in Greece and the relevant National and Local policy contexts are the following. At the National level, the ultimate responsibility for road safety and signal installations rests with the Ministry of Environment and Public Works. The Ministry is responsible for the adoption of standards and solutions for problems and also for a large number of actual installations, since local authorities lack the size and expertise to undertake such work on their own One of the project's aims is to provide information to the Ministry as to the suitability of the methods developed for aiding pedestrian movement, ultimately leading to a specification for its wider use. The Ministry is expecting to use the final results of the present study for possible modifications of its present standards for pedestrian controlled traffic signals. At the local level (Elefsina) the municipality has, in the past, pursued environmental improvements through pedestrianisation schemes in the city centre. At the same time it has developed a special traffic management policy, to solve a particularly serious problem of through traffic. A summary of the policy is contained in Appendix A and more details in a previous deliverable (Tillis, 1992). In the particular case of Elefsina pedestrian induced delay to through vehicular traffic, may form a key element in this policy ensuring at the same time, an incentive to divert to the existing bypass and enhancing pedestrian movement. The effectiveness of pedestrian detection techniques tested in the pilot, will provide valuable information on the future implementation of the policy. Thus, the Elefsina Pilot Project operates at the same time on three levels: It provides a basis, in combination with the other two pilot project sites, for comparing the effects of pedestrian detection on pedestrian safety and comfort at a European level. It provides information to the National authorities (Ministry of Environment and Public Works) for their standards setting, scheme design and implementation tasks. It fits into a comprehensive plan at the local level for effecting environmental improvements and enhancing pedestrian amenity and comfort at the same time. In addition, an investigation into the capabilities of pedestrian detectors to function as data collection devices, was performed. The data 'quality gap' betweenvehicular and pedestrian tr&c may be closed with the utilisation of microwave pedestrian detectors, providing a more solid foundation for the planning for total person movement through networks (vehicle occupants, public transport passengers, pedestrians). This the second deliverable issued for Elefsina and comprises of the main section which contains a description of the work undertaken, the results and a number of appendices serving as background material in support of the statements in the main text