Traffic sign detection and recognition using event camera image reconstruction
AGH University of Science and Technology（AGH科技大学）
Kamil Jeziorek, Tomasz Kryjak
备注：
Paper accepted for publication in: Zeszyty Studenckiego Towarzystwa Naukowego, 59. Hutnicza Konferencja Studenckich Kol Naukowych AGH,ISSN 1732-0925, 2022 nr 38, pp. 127-134. (original manuscript in Polish)
This paper presents a method for detection and recognition of traffic signs based on information extracted from an event camera. The solution used a FireNet deep convolutional neural network to reconstruct events into greyscale frames. Two YOLOv4 network models were trained, one based on greyscale images and the other on colour images. The best result was achieved for the model trained on the basis of greyscale images, achieving an efficiency of 87.03%.
AGH University of Science and Technology（AGH科技大学）；Silesian University of Technology（西里西亚工业大学）
In recent years, event cameras (DVS - Dynamic Vision Sensors) have been used in vision systems as an alternative or supplement to traditional cameras. They are characterised by high dynamic range, high temporal resolution, low latency, and reliable performance in limited lighting conditions -- parameters that are particularly important in the context of advanced driver assistance systems (ADAS) and self-driving cars. In this work, we test whether these rather novel sensors can be applied to the popular task of traffic sign detection. To this end, we analyse different representations of the eve…
Multi-target multi-camera tracking (MTMCT), i.e., tracking multiple targets across multiple cameras, is a crucial technique for smart city applications. In this paper, we propose an effective and reliable MTMCT framework for vehicles, which consists of a traffic-aware single camera tracking (TSCT) algorithm, a trajectory-based camera link model (CLM) for vehicle re-identification (ReID), and a hierarchical clustering algorithm to obtain the cross camera vehicle trajectories. First, the TSCT, which jointly considers vehicle appearance, geometric features, and some common traffic scenarios, is p…
The Hong Kong Polytechnic University（香港理工大学）；The University of Hong Kong（香港大学）；City University of Hong Kong（香港城市大学）
Accurate traffic state information plays a pivotal role in the Intelligent Transportation Systems (ITS), and it is an essential input to various smart mobility applications such as signal coordination and traffic flow prediction. The current practice to obtain the traffic state information is through specialized sensors such as loop detectors and speed cameras. In most metropolitan areas, traffic monitoring cameras have been installed to monitor the traffic conditions on arterial roads and expressways, and the collected videos or images are mainly used for visual inspection by traffic engineer…
The growing number of real-time camera feeds in urban areas has made it possible to provide high-quality traffic data for effective transportation planning, operations, and management. However, deriving reliable traffic metrics from these camera feeds has been a challenge due to the limitations of current vehicle detection techniques, as well as the various camera conditions such as height and resolution. In this work, a quadtree based algorithm is developed to continuously partition the image extent until only regions with high detection accuracy are remained. These regions are referred to as…
In this paper we propose a traffic surveillance camera calibration method based on detection of pairs of vanishing points associated with vehicles in the traffic surveillance footage. To detect the vanishing points we propose a CNN which outputs heatmaps in which the positions of vanishing points are represented using the diamond space parametrization which enables us to detect vanishing points from the whole infinite projective space. From the detected pairs of vanishing points for multiple vehicles in a scene we establish the scene geometry by estimating the focal length of the camera and th…
Traffic cameras are commonly deployed monitoring components in road infrastructure networks, providing operators visual information about conditions at critical points in the network. However, human observers are often limited in their ability to process simultaneous information sources. Recent advancements in computer vision, driven by deep learning methods, have enabled general object recognition, unlocking opportunities for camera-based sensing beyond the existing human observer paradigm. In this paper, we present a Natural Language Processing (NLP)-inspired approach, entitled Bag-of-Label-…
Traffic Management Centers (TMCs) routinely use traffic cameras to provide situational awareness regarding traffic, road, and weather conditions. Camera footage is quite useful for a variety of diagnostic purposes; yet, most footage is kept for only a few days, if at all. This is largely due to the fact that currently, identification of notable footage is done via manual review by human operators---a laborious and inefficient process. In this article, we propose a semantics-oriented approach to analyzing sequential image data, and demonstrate its application for automatic detection of real-wor…
University of Michigan（密歇根大学）；Collaborative Safety Research Center at the Toyota Motor North America Research & Development（丰田汽车北美研发中心协作安全研究中心）
This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver, and assumed known intrinsic and extrinsic calibration. On the contrary, this paper focuses on the same task using uncalibrated monocular traffic cameras. We observe that the homography between the road plane and the image plane is essential to 3D vehicle detection and the data synthesis for this task, and the homography can be estimated without the camera i…
TrafficLoc: Localizing Traffic Surveillance Cameras in 3D Scenes
Technical University of Munich（慕尼黑工业大学）；Munich Center for Machine Learning (MCML)（慕尼黑机器学习中心）；DeepScenario；Visual Geometry Group, University of Oxford（牛津大学视觉几何组）
School of Computing and Augmented Intelligence, Arizona State University（亚利桑那州立大学计算与增强智能学院）；Department of Computer Science and Physics, Rider University（莱德大学计算机科学与物理系）
Displaying near-real-time traffic information is a useful feature of digital navigation maps. However, most commercial providers rely on privacy-compromising measures such as deriving location information from cellphones to estimate traffic. The lack of an open-source traffic estimation method using open data platforms is a bottleneck for building sophisticated navigation services on top of OpenStreetMap (OSM). We propose a deep learning-based Complex Event Processing (CEP) method that relies on publicly available video camera streams for traffic estimation. The proposed framework performs nea…
Visvesvaraya National Institute of Technology（维什韦什瓦拉亚国家理工学院）；Polytechnique Montréal（蒙特利尔综合理工学院）
We propose a method for automatic calibration of a traffic surveillance camera with wide-angle lenses. Video footage of a few minutes is sufficient for the entire calibration process to take place. This method takes in the height of the camera from the ground plane as the only user input to overcome the scale ambiguity. The calibration is performed in two stages, 1. Intrinsic Calibration 2. Extrinsic Calibration. Intrinsic calibration is achieved by assuming an equidistant fisheye distortion and an ideal camera model. Extrinsic calibration is accomplished by estimating the two vanishing points…
In this paper, we focus on fully automatic traffic surveillance camera calibration, which we use for speed measurement of passing vehicles. We improve over a recent state-of-the-art camera calibration method for traffic surveillance based on two detected vanishing points. More importantly, we propose a novel automatic scene scale inference method. The method is based on matching bounding boxes of rendered 3D models of vehicles with detected bounding boxes in the image. The proposed method can be used from arbitrary viewpoints, since it has no constraints on camera placement. We evaluate our me…
We propose a traffic danger recognition model that works with arbitrary traffic surveillance cameras to identify and predict car crashes. There are too many cameras to monitor manually. Therefore, we developed a model to predict and identify car crashes from surveillance cameras based on a 3D reconstruction of the road plane and prediction of trajectories. For normal traffic, it supports real-time proactive safety checks of speeds and distances between vehicles to provide insights about possible high-risk areas. We achieve good prediction and recognition of car crashes without using any labele…
Institute for Transport Studies, The University of Leeds（利兹大学交通研究所）；Qazvin University（加兹温大学）；Tehran Azad University, Science & Research Branch（德黑兰阿扎德大学科学与研究分院）
Computer Vision has played a major role in Intelligent Transportation Systems (ITS) and traffic surveillance. Along with the rapidly growing automated vehicles and crowded cities, the automated and advanced traffic management systems (ATMS) using video surveillance infrastructures have been evolved by the implementation of Deep Neural Networks. In this research, we provide a practical platform for real-time traffic monitoring, including 3D vehicle/pedestrian detection, speed detection, trajectory estimation, congestion detection, as well as monitoring the interaction of vehicles and pedestrian…
Advanced Research Lab, NavInfo Europe（NavInfo欧洲先进研究实验室）
Autonomous vehicles and driver assistance systems utilize maps of 3D semantic landmarks for improved decision making. However, scaling the mapping process as well as regularly updating such maps come with a huge cost. Crowdsourced mapping of these landmarks such as traffic sign positions provides an appealing alternative. The state-of-the-art approaches to crowdsourced mapping use ground truth camera parameters, which may not always be known or may change over time. In this work, we demonstrate an approach to computing 3D traffic sign positions without knowing the camera focal lengths, princip…
Traffic control using intelligent timing of traffic lights with reinforcement learning technique and real-time processing of surveillance camera images
Texas Advanced Computing Center, The University of Texas at Austin（德克萨斯大学奥斯汀分校德克萨斯高级计算中心）；Center of Transportation Research, The University of Texas at Austin（德克萨斯大学奥斯汀分校交通研究中心）；Austin Transportation Department, City of Austin（奥斯汀市奥斯汀交通局）
Pedestrian safety is a priority for transportation system managers and operators, and a main focus of the Vision Zero strategy employed by the City of Austin, Texas. While there are a number of treatments and technologies to effectively improve pedestrian safety, identifying the location where these treatments are most needed remains a challenge. Current practice requires manual observation of candidate locations for limited time periods, leading to an identification process that is time consuming, lags behind traffic pattern changes over time, and lacks scalability. Mid-block locations, where…
University of Michigan（密歇根大学）；Ford Motor Company（福特汽车公司）
We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object detection, object localization, object tracking, and multi-camera information fusion. Unlike previous vision-based perception frameworks rely upon depth offset or 3D annotation at training, we adopt a modular decoupling design and introduce a landmark-based 3D localization method, where the detection and localization can be well decoupled so that the model can be…
Development of computing power and cheap video cameras enabled today's traffic management systems to include more cameras and computer vision applications for transportation system monitoring and control. Combined with image processing algorithms cameras are used as sensors to measure road traffic parameters like flow volume, origin-destination matrices, classify vehicles, etc. In this paper we propose a system for measurement of road traffic parameters (basic motion model parameters and macro-scopic traffic parameters). The system is based on Local Binary Pattern (LBP) image features classifi…
Volvo Cars USA（沃尔沃汽车美国公司）；U. Washington（华盛顿大学）；VolvoCars（沃尔沃汽车）；Chalmers University of Technology（查尔姆斯理工大学）；Fung Institute, University of California, Berkeley（加州大学伯克利分校冯氏研究所）
Traffic sign identification using camera images from vehicles plays a critical role in autonomous driving and path planning. However, the front camera images can be distorted due to blurriness, lighting variations and vandalism which can lead to degradation of detection performances. As a solution, machine learning models must be trained with data from multiple domains, and collecting and labeling more data in each new domain is time consuming and expensive. In this work, we present an end-to-end framework to augment traffic sign training data using optimal reinforcement learning policies and …
Universidad Nacional de San Antonio Abad del Cusco（库斯科圣安东尼奥阿巴德国立大学）；Pontificia Universidad Católica del Perú（秘鲁天主教大学）
The development of autonomous vehicles arises new challenges in urban traffic scenarios where vehicle-pedestrian interactions are frequent e.g. vehicle yields to pedestrians, pedestrian slows down due approaching to the vehicle. Over the last years, several datasets have been developed to model these interactions. However, available datasets do not cover near-accident scenarios that our dataset covers. We introduce I see you, a new vehicle-pedestrian interaction dataset that tackles the lack of trajectory data in near-accident scenarios using YOLOv5 and camera calibration methods. I see you co…
NVIDIA（英伟达）；San Jose State University（圣何塞州立大学）；University of Washington（华盛顿大学）
Urban traffic optimization using traffic cameras as sensors is driving the need to advance state-of-the-art multi-target multi-camera (MTMC) tracking. This work introduces CityFlow, a city-scale traffic camera dataset consisting of more than 3 hours of synchronized HD videos from 40 cameras across 10 intersections, with the longest distance between two simultaneous cameras being 2.5 km. To the best of our knowledge, CityFlow is the largest-scale dataset in terms of spatial coverage and the number of cameras/videos in an urban environment. The dataset contains more than 200K annotated bounding …
University of Adelaide（阿德莱德大学）；Centre for Automotive Safety Research（汽车安全研究中心）
Accurate 7DoF prediction of vehicles at an intersection is an important task for assessing potential conflicts between road users. In principle, this could be achieved by a single camera system that is capable of detecting the pose of each vehicle but this would require a large, accurately labelled dataset from which to train the detector. Although large vehicle pose datasets exist (ostensibly developed for autonomous vehicles), we find training on these datasets inadequate. These datasets contain images from a ground level viewpoint, whereas an ideal view for intersection observation would be…
Indiana University（印第安纳大学）；University of Michigan（密歇根大学）
Recognizing abnormal events such as traffic violations and accidents in natural driving scenes is essential for successful autonomous driving and advanced driver assistance systems. However, most work on video anomaly detection suffers from two crucial drawbacks. First, they assume cameras are fixed and videos have static backgrounds, which is reasonable for surveillance applications but not for vehicle-mounted cameras. Second, they pose the problem as one-class classification, relying on arduously hand-labeled training datasets that limit recognition to anomaly categories that have been expli…
Carnegie Mellon University（卡内基梅隆大学）；Universidade de Lisboa（里斯本大学）
Understanding traffic density from large-scale web camera (webcam) videos is a challenging problem because such videos have low spatial and temporal resolution, high occlusion and large perspective. To deeply understand traffic density, we explore both deep learning based and optimization based methods. To avoid individual vehicle detection and tracking, both methods map the image into vehicle density map, one based on rank constrained regression and the other one based on fully convolution networks (FCN). The regression based method learns different weights for different blocks in the image t…
This paper presents the learned techniques during the Video Analysis Module of the Master in Computer Vision from the Universitat Autònoma de Barcelona, used to solve the third track of the AI-City Challenge. This challenge aims to track vehicles across multiple cameras placed in multiple intersections spread out over a city. The methodology followed focuses first in solving multi-tracking in a single camera and then extending it to multiple cameras. The qualitative results of the implemented techniques are presented using standard metrics for video analysis such as mAP for object detection an…
The Interstate-24 MObility Technology Interstate Observation Network (I-24 MOTION) is a new instrument for traffic science located near Nashville, Tennessee. I-24 MOTION consists of 276 pole-mounted high-resolution traffic cameras that provide seamless coverage of approximately 4.2 miles I-24, a 4-5 lane (each direction) freeway with frequently observed congestion. The cameras are connected via fiber optic network to a compute facility where vehicle trajectories are extracted from the video imagery using computer vision techniques. Approximately 230 million vehicle miles of travel occur within…
UTA-Sign: Unsupervised Thermal Video Augmentation via Event-Assisted Traffic Signage Sketching
School of Computer Science and Technology, Dalian University of Technology（大连理工大学计算机科学与技术学院）；Deparment of Automation, Tsinghua University（清华大学自动化系）；School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院）
Traffic light detection is essential for self-driving cars to navigate safely in urban areas. Publicly available traffic light datasets are inadequate for the development of algorithms for detecting distant traffic lights that provide important navigation information. We introduce a novel benchmark traffic light dataset captured using a synchronized pair of narrow-angle and wide-angle cameras covering urban and semi-urban roads. We provide 1032 images for training and 813 synchronized image pairs for testing. Additionally, we provide synchronized video pairs for qualitative analysis. The datas…
Carnegie Mellon University（卡内基梅隆大学）；University of Tokyo（东京大学）
This paper presents a novel dataset for traffic accidents analysis. Our goal is to resolve the lack of public data for research about automatic spatio-temporal annotations for traffic safety in the roads. Through the analysis of the proposed dataset, we observed a significant degradation of object detection in pedestrian category in our dataset, due to the object sizes and complexity of the scenes. To this end, we propose to integrate contextual information into conventional Faster R-CNN using Context Mining (CM) and Augmented Context Mining (ACM) to complement the accuracy for small pedestria…
Ground Plane Projection for Improved Traffic Analytics at Intersections
Center of Vision Research (CVR) and Centre for AI & Society (CAIS) at York University（约克大学视觉研究中心（CVR）和人工智能与社会研究中心（CAIS））；Vector Institute for Artificial Intelligence（人工智能向量研究所）；Region of York（约克地区）；York University（约克大学）；University of Toronto（多伦多大学）
Lafayette College（拉斐特学院）；Universidad Autónoma de Santo Domingo（圣多明各自治大学）
Vehicle counting systems can help with vehicle analysis and traffic incident detection. Unfortunately, most existing methods require some level of human input to identify the Region of interest (ROI), movements of interest, or to establish a reference point or line to count vehicles from traffic cameras. This work introduces a method to count vehicles from traffic videos that automatically identifies the ROI for the camera, as well as the driving trajectories of the vehicles. This makes the method feasible to use with Pan-Tilt-Zoom cameras, which are frequently used in developing countries. Pr…
A Robust Deep Networks based Multi-Object MultiCamera Tracking System for City Scale Traffic
COMSATS University Islamabad, Lahore Campus（COMSATS大学伊斯兰堡分校拉合尔校区）；Pakistan Navy Engineering College, National University of Sciences and Technology (NUST)（巴基斯坦国立科技大学巴基斯坦海军工程学院）
提出一种基于深度学习的多目标多摄像头跟踪框架，利用Mask R-CNN、迁移学习与Deep SORT等技术解决城市规模交通中的车辆跟踪难题，在AI City Challenge数据集上取得IDF1为0.8289的优异性能。
Physical Evaluation of Naturalistic Adversarial Patches for Camera-Based Traffic-Sign Detection
Department of Computing Sciences, University of Hartford（计算科学系，哈特福大学）；Department of Electrical and Computer Engineering, Tennessee Technological University（电气与计算机工程系，田纳西技术大学）；Center for Manufacturing Research, Tennessee Technological University（制造研究中心，田纳西技术大学）
The University of Hong Kong（香港大学）；Massachusetts Institute of Technology（麻省理工学院）
Over the recent years, there has been an explosion of studies on autonomous vehicles. Many collected large amount of data from human drivers. However, compared to the tedious data collection approach, building a virtual simulation of traffic makes the autonomous vehicle research more flexible, time-saving, and scalable. Our work features a 3D simulation that takes in real time position information parsed from street cameras. The simulation can easily switch between a global bird view of the traffic and a local perspective of a car. It can also filter out certain objects in its customized camer…
TUMTraf EMOT: Event-Based Multi-Object Tracking Dataset and Baseline for Traffic Scenarios
School of Automation, Southeast University（东南大学自动化学院）；Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich（慕尼黑技术大学机器人与人工智能与实时系统教授职位）；Department of Computer Science and Technology, Tongji University（同济大学计算机科学与技术系）
Our sensor system consists of a combination of Photonic Mixer Device - PMD and Mono optical cameras. Some traffic signs have stripes at 45{deg}. These traffic signs cancel different restrictions on the road. We detect this class of signs with Radon transformation. Here the Radon transformation is calculated using Central Slice Theorem. We approximate the slice of spectrum by the Discrete Cosine Transformation (DCT).
Urban Traffic Surveillance (UTS) is a surveillance system based on a monocular and calibrated video camera that detects vehicles in an urban traffic scenario with dense traffic on multiple lanes and vehicles performing sharp turning maneuvers. UTS then tracks the vehicles using a 3D bounding box representation and a physically reasonable 3D motion model relying on an unscented Kalman filter based approach. Since UTS recovers positions, shape and motion information in a three-dimensional world coordinate system, it can be employed to recognize diverse traffic violations or to supply intelligent…
