A Survey on Object Tracking Based System for Safer

Transportation in Smart Cities

Helena Thomas#1, Josna Jose#2
#1
PG Scholar, Computer Science and Engineering,
College of Engineering Kidangoor, Kottayam, Kerala
#2
Asst.Professor, Computer Science and Engineering,
College of Engineering Kidangoor, Kottayam, Kerala

Abstract—Now a day’s safety and security are the most discussed are extracted from the current frame, the objective is to track
topics in the road and railway transportation field. While them. To achieve that, an object’s tracking method based on
trains are more convenient for travel and for transporting optical flow is applied. The tracking process starts by
goods, they have become a great danger over the years as their computing optical flow of corner points, extracted by Harris
speed has increased. In the current transportation system it is
operator, using the Lucas–Kanade algorithm.
becoming ever necessary to install safety elements to avoid
accidents. One of the causes that can provoke serious accidents
is the existence of obstacles, either fixed or mobile. Latest
security initiatives in the field of railway transportation propose
to implement video surveillance at level crossing (LC)
environments. This paper aims to compare the existing systems
and find an efficient method towards safer transportation. At
present video based analysis method is efficient. Four hazard
scenarios are tested and evaluated with different real video image
sequences: presence of the obstacle in the rail-road crossing,
presence of the stopped vehicles line, vehicle zigzagging between
two closed half barriers, and pedestrian crossing the area.

Keywords—Video based surveillance system, Hidden Markov

Model, Dempster-Shafer data fusion technique

I. INTRODUCTION
Improving rail-road crossings safety has become an important
field of academic research. Improving the safety of people and
rail-road facilities is an essential element to ensure good
operation of the road and railway transport. Statistically,
nearly 44% of rail-road users have a negative perception of the
environment, which consequently increases the risk of
accidents. The proportion of accidents at railway-road level
crossings is not very high for the society, but these accidents
are very dangerous. The risk of fatal outcome in an accident at
a level crossing is twenty to forty times greater than in an
average road accident. Intensive users (mostly car drivers) are
highly exposed to the risk, and the population living in the
vicinity of level crossings is the most endangered one. Special
cases are multi-fatality accidents and especially accidents
involving school buses. The method starts by detecting pixels
affected by motion as a pre-treatment phase. To detect and
separate objects, this method consists of clustering, moving
pixels by comparing specific energy vectors associated with
each target and each pixel affected by motion. Once the targets
Fig 1: General representation of the architecture of the
PANsafer project [1]
II. LITERATURE REVIEW
In the following section we will be discussing about various
methods promoting safer transportation:
A. Intra-Vehicle Networks: A Review
Automotive electronics is a rapidly expanding area with an
increasing number of safety, driver assistance, and
infotainment devices becoming standard in new vehicles.
Current vehicles generally employ a number of different
networking protocols to integrate these systems into the
vehicle. The introduction of large numbers of sensors to
 provide driver assistance applications and the associated
high bandwidth requirements of these sensors has
accelerated the demand for faster and more flexible network
communication technologies within the vehicle. This paper
presents a comprehensive overview of current research on
advanced intra-vehicle networks and identifies outstanding
research questions for the future.[11]
B. Hierarchical and Networked Vehicle Surveillance in ITS:
Traffic surveillance has become an important topic in
intelligent transportation systems (ITSs), which aims at
monitoring and managing traffic flow. The authors present
a review of the literature on the video-based vehicle
surveillance systems in ITS. They analyze the existing
challenges in video-based surveillance systems for the
vehicle and present a general architecture for video
surveillance systems, i.e., the hierarchical and networked
vehicle surveillance, to survey the different existing and
potential techniques. Then, different methods are reviewed
and discussed with respect to each module. Applications
and future developments are discussed to provide future
needs of ITS services. [12]
C. Video-Analysis-Based Railway-Road System for
Detecting Hazard Situations at Level Crossings:
In this paper, the authors explore the possibility of
implementing a smart video surveillance security system that
is tuned towards detecting and evaluating abnormal situations
induced by users (pedestrians, vehicle drivers, and unattended
objects) in level crossings. This intelligent security system
starts by detecting, separating, and tracking moving objects
shot in the level crossing. Then, a hidden Markov model is
developed to estimate ideal trajectories, allowing the detected
targets to discard dangerous situations. After this, the level of
risk of each target is instantly estimated by using the
Dempster–Shafer data fusion technique. The proposed
analysis also allows recognizing hazard scenarios. Four hazard
scenarios are tested and evaluated with different real video
image sequences: presence of obstacle in the level crossing,
presence of stopped vehicles line, vehicle zigzagging between
two closed half barriers, and pedestrian crossing LC area. [1]
Fig 2: Synopsis of the video surveillance system [1]
D. Efficient Pedestrian Detection via Rectangular Features
Based on a Statistical Shape Model:
The authors propose a simple yet effective detector for
robust pedestrian detection. Observing that pedestrians
usually appear upright in video data, the authors employ a
statistical model of the upright human body where the head,
the upper body, and the lower body are treated as three
distinct components. The main contribution is to
systematically design a pool of rectangular features that are
tailored to this shape model. This approach does not avoid
exhaustive searches over all possible configurations of
rectangular features nor does it rely on random sampling. It
thus marks a middle ground among recently published
techniques and yields efficient low-dimensional yet highly
discriminative features. Experimental results on the well-
established INRIA, Caltech, and KITTI pedestrian data sets
show that our detector reaches state-of-the-art performance
at low computational costs and that our features are robust
against occlusions. [7]
E. A Pedestrian-Detection Method Based on Heterogeneous
Features and Ensemble of Multi-View-Pose Parts:
Vision-based pedestrian detection remains a challenging
task so far. The detection performance often suffers from
the various appearances of pedestrians, the illumination
changes, and possible partial occlusions. This paper
aims at resolving these challenges. Firstly, a new linear
 kernel function is proposed to effectively combine two
heterogeneous features, HOG and LBP, which enhances the
pedestrian description ability to illumination conditions and
cluttered background. Then, a novel multiple view–pose
part ensemble detector is proposed in order to better handle
pedestrian variability, views, and partial occlusions.
Experimental results on public data sets demonstrate that
the proposed feature combination method significantly
improves the description capabilities of pedestrian features.
Compared with the existing multipart ensemble approaches,
the proposed multiple view–pose ensemble detector boosts
higher detection accuracy. [6]
F. Longitudinal Model Identification and Velocity Control of
an Autonomous Car:
This paper presents the model identification and the
velocity control of an autonomous car. Since the
determination of the vehicle’s model is a difficult step in
the design of model-based controllers, the main
contribution of this paper is the use of an empirically
determined model. In this work, the structure of the model
was conceived from the car’s physics equations, but its
parameters were estimated using data-based identification
techniques. An important contribution of this paper is the
fact that, although the model is strictly linear, the authors
can change its parameters in function of the operation point
of the vehicle to represent engine’s and transmission’s
nonlinear behaviours. In addition, in this paper, the authors
propose a way to include changes in the longitudinal
dynamics caused by automatic gear shifting.[4]
G. Traffic Flow Prediction with Big Data: A Deep
Learning Approach:
Over the last few years, traffic data have been exploding
and we have truly entered the era of big data for
transportation. Existing traffic flow prediction methods
mainly use shallow traffic prediction models and are still
insufficient for many real-world applications. This situation
inspires us to rethink the traffic flow prediction problem
based on deep architecture models with big traffic data. In
this paper, a novel deep learning based traffic flow
prediction method is proposed, which considers the spatial
and temporal correlations inherently. The stacked auto
encoder model is used to learn generic traffic flow features,
and it is trained in a greedy layer wise fashion. To the best
of our knowledge, this is the first time to apply the deep
architecture model using auto encoders as building blocks
to represent traffic flow features for prediction. In addition,
experiments demonstrate that the proposed method for
traffic flow prediction has a superior performance. [14]
H. Nonparametric Technique Based High-Speed Road
Surface Detection:
Existing road surface detection methods attempt to fit the
road surface into rigid models (e.g. planar, clothoid, or B-
spline), thereby restricting to road surfaces that match
specific models. In addition, the curve fitting strategies
employed in such techniques incur high-computational
complexity, making them unsuitable for in-vehicle
deployments. In this paper, the authors propose an efficient
nonparametric road surface detection algorithm that
exploits the depth cue. The proposed method relies on four
intrinsic road scene attributes observed under stereo
geometry and has been shown to reliably detect both planar
and nonplanar road surfaces efficiently. Extensive
evaluations are performed on three widely used benchmarks
(i.e., enpeda, KITTI, and Daimler), encompassing many
complex road scenarios. The experimental results show that
the proposed algorithm significantly outperforms the well-
known techniques both in terms of detection accuracy and
runtime performance. [15]
I. Analysis and Modelling of Pedestrian Crossing
Behaviour During the Pedestrian Flashing Green
Interval:
The objective of this study is to analyze and model the
probabilistic behaviour of pedestrians after the onset of
PFG, which contains pedestrians’ decision of whether to
give up crossing, as well as pedestrian speed distribution.
Empirical data analysis showed that longer crosswalks
lead to significantly higher pedestrian stop probabilities.
Furthermore, there is a significant difference between
pedestrians’ speeds in the first and second halves of
crosswalks. The results of a Monte Carlo simulation
showed that the estimated models closely represent the
overall stochastic behaviour of pedestrians from the onset
of PFG until the completion of crossing. [9]
III CONCLUSION
The literature review presents the fact that there are large
number of object detection techniques. We have discussed so
far many techniques, their advantages and disadvantages.
Further the review reveals the fact that even though abundant
information on object detection is present, the integration of
some of the techniques provide much more efficiency. At
present video based analysis is efficient. In this paper, the
method starts by detecting and tracking objects seen in the
monitored zone by a video camera. The second stage of the
method consists in predicting for each tracked object the ideal
trajectory avoiding potential dangerous situations.
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