1 Sixth Annual Summer Conference on Livable Communities June 6 – 7, 2019 Kalamazoo, Michigan Challenges and Opportunities of Using LiDAR and Laser Scanner in Smart City Applications Majid Mastali, Ph.D. Candidate, majid.mastali@wmich.edu Dr. Jun Oh, Professor, jun.oh@wmich.edu
2 Outline • Introduction to Remote Sensing Technology and Smart City Applications • Laser Scanner, Challenges and Benefits • Lidar, Challenges and Benefits • Conclusion Civil and Construction Engineering
3 INTRODUCTION • Remote sensing and vision-based sensors, supplies a wealth source of data. • Integrating and computerizing data sources can help the city officials possess useful data. • In the smart cities, a live automated urban component detection and evaluation process are necessary. • Remote sensing sensors such as Lidar and laser scanner supply a 3D set of data. • The point cloud data will be used to extract different 3D objects in the urban element’s detections. Civil and Construction Engineering
4 INTRODUCTION Smart City • Complex management systems. • Project failures have an important effect. • Develop and deploy effective services for complex Technology Offers The Integrated Solutions to Implement Complex Issues In a Sustainable Way In Megacities Civil and Construction Engineering
5 Smart City Smart Community Connected Vehicle Autonomous Vehicle Big Data https://www.google.com/url? sa=t&rct=j&q=&esrc=s&source=web&cd=1&cad=rja&uact=8&ved=2ahUKEwj9gMiLiNbhAhUOSa0KHXQkC4sQFjAAegQIABAC&url=https%3A%2F%2Fcms.dot.gov%2Fsites%2Fdot.gov%2Ffiles%2Fdocs%2FSmartCityCh allengeConnectedVehiclesAndAutomatedVehiclesWebinar.pptx&usg=AOvVaw2lHPozyl_9MlZ8k5OGer8u Civil and Construction Engineering
6 Smart City Operation Plans Design Operations Planning Implementations Civil and Construction Engineering
7 Remote Sensing and Complex Environment Road features are becoming more complex Infrastructure improvements American with Disability Act (ADA) Analyzing human driving behavior Motorist and pedal cyclist’s interactions Civil and Construction Engineering
8 Why Remote Sensing? Remote sensing is an important emerging technology Small, low-cost, low-power, multi-functional sensors High-resolution data could be a primary source of data for many complex dynamic urban environments A high-resolution dataset not only can be used to extract and assess static objects such as sidewalls but also can evaluate vehicles overtaking maneuvers Analyzing human driving behavior to identify the variables defining challenging objects and maneuvers Civil and Construction Engineering
9 Laser Scanner and/or LiDAR? • Laser Scanner – The Leica C10 laser scanner – Stationary – Scans 50,000 pts/s – Took 2 to 5 minutes to finish each scan • LiDAR � A Velodyne V16 LIDAR � Continuously measures and captures data � Can generate up to 60,000 pts/s Civil and Construction Engineering This Photo by Unknown Author is licensed under CC BY-NC
10 Object Detection in Remote Sensing Environment • The impact of remote sensing equipment – LiDAR and laser scanner collects information based on the distance. – LiDAR and laser scanner are widely use 3D model creation in Point Cloud Data (PCD) • Object classification in PCD – It is essential to extract objects such as edges, pedestrians, curbs, etc. – Clustering can create a set of meaningful subclasses of data. Civil and Construction Engineering
11 PCD Visualization Laser Scanning Point Cloud data Civil and Construction Engineering
12 Outline • Introduction to Remote Sensing Technology and Smart City Applications • Laser Scanner, Challenges and Benefits • Lidar, Challenges and Benefits • Conclusion Civil and Construction Engineering
13 Abstract • The ADA 1990 includes the civil right laws that require the same general protection for individuals with disabilities. • The ADA intends to address all public facilities in the long term to provide services to the public. • The focus has been on the assorted variables, including topography, accessible routes, curbs. • Detecting the status of route accessibility is essential in this analysis. Civil and Construction Engineering
14 ADA Requirements for Accessible Routes Accessibility guidelines for accessible routes Civil and Construction Engineering
15 Methodology Civil and Construction Engineering
16 CASE STUDY • The Business district of Kalamazoo, Michigan • This area is located in a business district with various public and commercial buildings Civil and Construction Engineering
17 Results Top view Front view Results Top PCD view Surface top PCD view Civil and Construction Engineering
18 Data Collection Results Results of Curb Ramp Slopes Comparison Number By manual measurements (%) By proposed approach (%) The difference (%) of the 1 8.17 7.99 0.18 selected 2 10.42 10.21 0.21 curb ramp 3 10.42 10.60 -0.18 slopes 4 7.11 6.45 0.66 5 7.62 7.64 -0.02 Comparison Results of Sidewalk Ramp Slope of the Number By manual measurements (%) By proposed approach (%) The difference (%) selected 6 1.23 0.95 0.28 sidewalk 7 2.00 1.67 0.33 slopes 8 1.14 1.57 -0.43 Civil and Construction Engineering
19 Outline • Introduction to Remote Sensing Technology and Smart City Applications • Laser Scanner, Challenges and Benefits • Lidar, Challenges and Benefits • Conclusion Civil and Construction Engineering
20 Vehicle Detection to Analyzing Drivers’ Behaviors Using LIDAR Civil and Construction Engineering
21 Abstract • Transportation modes are getting more complex • more complicated interactions between vehicles and bicycles. • Analyzing drivers’ behaviors • critical topics in traffic engineering and management. • Developing a platform to detect object and measure characteristics is desirable. Civil and Construction Engineering
22 LiDAR Dara Streaming Civil and Construction Engineering
23 Data Preprocessing • Smart segmentation in ROI (Statistical outlier removal) • Segmentation in time stamp, X and Y dimensions • Vehicle detection and clustering • Point Cloud Classification (Smart segmentation in ROI) • Overtaking maneuver • Maneuver detection in time series Civil and Construction Engineering
24 Study Limit • Keep the information belonging to the vehicles in the segmentation • Multi-corridors • Exclude the points belonging to the other objects. • Define the ROI Civil and Construction Engineering
25 Vehicle Detection and Clustering Civil and Construction Engineering
26 Point Cloud Classification • The automated approach using measuring range data. • Accurate identification • The algorithm would limit the points to the detected. • The smaller size of the final dataset points would reduce the processing. Civil and Construction Engineering
27 Point Cloud Classification a b c passing zone Approaching Phase Continue driving Civil and Construction Engineering
28 Overtaking Maneuver • Different variables affect overtaking maneuvers scenarios, including geography conditions, speed limitation, vehicle speed, and bicycle speed. • Overtaking happens in five phases. • Approaching phase • Steering away • Passing • Steering back • Continue driving • The key elements of overtaking are the time of observation. Civil and Construction Engineering
29 Methodology Civil and Construction Engineering
30 LiDAR and Bicycle Set up • This research employs a bicycle equipped with different sensors such as LiDAR and GPS and a data acquisition system to integrate all data. Sensor type Sensor Name Data Provided Resolution Sample frequency LIDAR Velodyne V-16 Point Cloud Angular resolution (vertical): 2° 5 – 10 Hz Camera Sony X3000 Video Frames 1920*1080 Pixel 30 fps GPS Garmin 18x LVC Latitude and Longitude 1 MS 1 Hz Civil and Construction Engineering
31 City Selection • In 2016 • 58% of pedal cyclist’s fatalities did not occur at intersections • 71% of pedal cyclists’ fatalities occurred in urban areas. • Study areas should be selected based on different factors • Population, • Number of bicyclists, • Traffic condition, and • Passing distance regulations. • Different cities were analyzed, and two cities were selected: • Lansing, Michigan • South Bend, Indiana Civil and Construction Engineering
32 Lansing, Michigan • A total number of 143,174 data frames • About 239 minutes data collected • 378 vehicle maneuvers were detected. • Following roads had been studied • West and east Kalamazoo Road, • Pleasant Grove Road, • Cavanaugh Road, • Miler Road. Civil and Construction Engineering
33 Lansing, Michigan Civil and Construction Engineering
34 South Bend, Indiana • Aa total number of 125,548 data frames • About 209 minutes data collected • 452 vehicle maneuvers were detected. • Following roads had been studied • Lincoln Way • Portage Avenue • Twyckenham Drive • Main Street. Civil and Construction Engineering
35 South Bend, Indiana Civil and Construction Engineering
West Kalamazoo Street 36 vehicle in passing zone vehicle in approaching zone • A 2 and 3-lanes road with bike lane and shoulder • Speed limit of 25 mph • Annual Average Daily Traffic (AADT) is 14000.
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