Accident Analysis and Prevention: Course Notes 1987/88

This report consists of the notes from a series of lectures given by the authors for a course entitled Accident Analysis and Prevention. The course took place during the second term of a one year Masters degree course in Transport Planning and Engineering run by the Institute for Transport Studies and the Department of Civil Engineering at the University of Leeds. The course consisted of 18 lectures of which 16 are reported on in this document (the remaining two, on Human Factors, are not reported on in this document as no notes were provided). Each lecture represents one chapter of this document, except in two instances where two lectures are covered in one chapter (Chapters 10 and 14). The course first took place in 1988, and at the date of publication has been run for a second time. This report contains the notes for the initial version of the course. A number of changes were made in the content and emphasis of the course during its second run, mainly due to a change of personnel, with different ideas and experiences in the field of accident analysis and prevention. It is likely that each time the course is run, there will be significant changes, but that the notes provided in this document can be considered to contain a number of the core elements of any future version of the course

Local movement: agent-based models of pedestrian flows

Modelling movement within the built environment has hitherto been focused on rather coarse spatial scales where the emphasis has been upon simulating flows of traffic between origins and destinations. Models of pedestrian movement have been sporadic, based largely on finding statistical relationships between volumes and the accessibility of streets, with no sustained efforts at improving such theories. The development of object-orientated computing and agent-based models which have followed in this wake, promise to change this picture radically. It is now possible to develop models simulating the geometric motion of individual agents in small-scale environments using theories of traffic flow to underpin their logic. In this paper, we outline such a model which we adapt to simulate flows of pedestrians between fixed points of entry - gateways - into complex environments such as city centres, and points of attraction based on the location of retail and leisure facilities which represent the focus of such movements. The model simulates the movement of each individual in terms of five components; these are based on motion in the direction of the most attractive locations, forward movement, the avoidance of local geometric obstacles, thresholds which constrain congestion, and movement which is influenced by those already moving towards various locations. The model has elements which enable walkers to self-organise as well as learn from their geometric experiences so far. We first outline the structure of the model, present a computable form, and illustrate how it can be programmed as a variant of cellular automata. We illustrate it using three examples: its application to an idealised mall where we show how two key components - local navigation of obstacles and movement towards points of global locational attraction - can be parameterised, an application to the more complex town centre of Wolverhampton (in the UK West Midlands) where the paths of individual walkers are used to explore the veracity of the model, and finally it application to the Tate Gallery complex in central London where the focus is on calibrating the model by letting individual agents learn from their experience of walking within the environment

Enhanced tracking and recognition of moving objects by reasoning about spatio-temporal continuity.

A framework for the logical and statistical analysis and annotation of dynamic scenes containing occlusion and other uncertainties is presented. This framework consists of three elements; an object tracker module, an object recognition/classification module and a logical consistency, ambiguity and error reasoning engine. The principle behind the object tracker and object recognition modules is to reduce error by increasing ambiguity (by merging objects in close proximity and presenting multiple hypotheses). The reasoning engine deals with error, ambiguity and occlusion in a unified framework to produce a hypothesis that satisfies fundamental constraints on the spatio-temporal continuity of objects. Our algorithm finds a globally consistent model of an extended video sequence that is maximally supported by a voting function based on the output of a statistical classifier. The system results in an annotation that is significantly more accurate than what would be obtained by frame-by-frame evaluation of the classifier output. The framework has been implemented and applied successfully to the analysis of team sports with a single camera. Key words: Visua

Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page

Advanced Map Matching Technologies and Techniques for Pedestrian/Wheelchair Navigation

Due to the constantly increasing technical advantages of mobile devices (such as smartphones), pedestrian/wheelchair navigation recently has achieved a high level of interest as one of smartphones’ potential mobile applications. While vehicle navigation systems have already reached a certain level of maturity, pedestrian/wheelchair navigation services are still in their infancy. By comparing vehicle navigation systems, a set of map matching requirements and challenges unique in pedestrian/wheelchair navigation is identified. To provide navigation assistance to pedestrians and wheelchair users, there is a need for the design and development of new map matching techniques. The main goal of this research is to investigate and develop advanced map matching technologies and techniques particular for pedestrian/wheelchair navigation services. As the first step in map matching, an adaptive candidate segment selection algorithm is developed to efficiently find candidate segments. Furthermore, to narrow down the search for the correct segment, advanced mathematical models are applied. GPS-based chain-code map matching, Hidden Markov Model (HMM) map matching, and fuzzy-logic map matching algorithms are developed to estimate real-time location of users in pedestrian/wheelchair navigation systems/services. Nevertheless, GPS signal is not always available in areas with high-rise buildings and even when there is a signal, the accuracy may not be high enough for localization of pedestrians and wheelchair users on sidewalks. To overcome these shortcomings of GPS, multi-sensor integrated map matching algorithms are investigated and developed in this research. These algorithms include a movement pattern recognition algorithm, using accelerometer and compass data, and a vision-based positioning algorithm to fill in signal gaps in GPS positioning. Experiments are conducted to evaluate the developed algorithms using real field test data (GPS coordinates and other sensors data). The experimental results show that the developed algorithms and the integrated sensors, i.e., a monocular visual odometry, a GPS, an accelerometer, and a compass, can provide high-quality and uninterrupted localization services in pedestrian/wheelchair navigation systems/services. The map matching techniques developed in this work can be applied to various pedestrian/wheelchair navigation applications, such as tracking senior citizens and children, or tourist service systems, and can be further utilized in building walking robots and automatic wheelchair navigation systems