Challenges and Opportunities of Using LiDAR and Laser Scanner in - - PowerPoint PPT Presentation

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Challenges and Opportunities of Using LiDAR and Laser Scanner in - - PowerPoint PPT Presentation

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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

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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

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Sixth Annual Summer Conference on Livable Communities June 6 – 7, 2019 Kalamazoo, Michigan

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Outline

  • Introduction to Remote Sensing Technology and Smart

City Applications

  • Laser Scanner, Challenges and Benefits
  • Lidar, Challenges and Benefits
  • Conclusion

Civil and Construction Engineering

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INTRODUCTION

Civil and Construction Engineering

  • Remote sensing and vision-based sensors, supplies a wealth source
  • f data.
  • Integrating and computerizing data sources can help the city
  • fficials 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.

3

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Smart City

Civil and Construction Engineering

  • Complex management systems.
  • Project failures have an important effect.
  • Develop and deploy effective services for complex

4

Technology Offers The Integrated Solutions to Implement Complex Issues In a Sustainable Way In Megacities

INTRODUCTION

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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

Smart City

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Operations

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Planning Design

Implementations

Civil and Construction Engineering

Smart City Operation Plans

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7 Civil and Construction Engineering

Analyzing human driving behavior

Motorist and pedal cyclist’s interactions

Infrastructure improvements American with Disability Act (ADA) Road features are becoming more complex Remote Sensing and Complex Environment

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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

  • vertaking maneuvers

Analyzing human driving behavior to identify the variables defining challenging objects and maneuvers

Civil and Construction Engineering

Why Remote Sensing?

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  • Laser Scanner

– The Leica C10 laser scanner – Stationary – Scans 50,000 pts/s – Took 2 to 5 minutes to finish each scan

Civil and Construction Engineering

This Photo by Unknown Author is licensed under CC BY-NC

  • LiDAR

A Velodyne V16 LIDAR Continuously measures and captures data Can generate up to 60,000 pts/s

Laser Scanner and/or LiDAR?

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  • 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

Object Detection in Remote Sensing Environment

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PCD Visualization

Civil and Construction Engineering 11

Laser Scanning Point Cloud data

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Outline

  • Introduction to Remote Sensing Technology and Smart

City Applications

  • Laser Scanner, Challenges and Benefits
  • Lidar, Challenges and Benefits
  • Conclusion

Civil and Construction Engineering

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  • 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

Abstract

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Civil and Construction Engineering 14

Accessibility guidelines for accessible routes

ADA Requirements for Accessible Routes

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15 Civil and Construction Engineering

Methodology

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  • The Business district of Kalamazoo, Michigan
  • This area is located in a business district with various public and

commercial buildings

Civil and Construction Engineering

CASE STUDY

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Results

Civil and Construction Engineering

Top view Front view Top PCD view Surface top PCD view

Results

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18 Results of Curb Ramp Slopes Number By manual measurements (%) By proposed approach (%) The difference (%) 1 8.17 7.99 0.18 2 10.42 10.21 0.21 3 10.42 10.60

  • 0.18

4 7.11 6.45 0.66 5 7.62 7.64

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Results of Sidewalk Ramp Slope Number By manual measurements (%) By proposed approach (%) The difference (%) 6 1.23 0.95 0.28 7 2.00 1.67 0.33 8 1.14 1.57

  • 0.43

Civil and Construction Engineering

Comparison

  • f the

selected sidewalk slopes

Comparison

  • f the

selected curb ramp slopes

Data Collection Results

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Outline

  • Introduction to Remote Sensing Technology and Smart

City Applications

  • Laser Scanner, Challenges and Benefits
  • Lidar, Challenges and Benefits
  • Conclusion

Civil and Construction Engineering

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Vehicle Detection to Analyzing Drivers’ Behaviors Using LIDAR

20 Civil and Construction Engineering

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Civil and Construction Engineering 21

  • 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.

Abstract

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LiDAR Dara Streaming

Civil and Construction Engineering 22

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  • 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

Data Preprocessing

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Civil and Construction Engineering 24

  • Keep the information belonging to the vehicles in the segmentation
  • Multi-corridors
  • Exclude the points belonging to the other objects.
  • Define the ROI

Study Limit

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Civil and Construction Engineering 25

Vehicle Detection and Clustering

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  • 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.

Point Cloud Classification

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Civil and Construction Engineering 27

Point Cloud Classification

a b c

Approaching Phase passing zone Continue driving

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Civil and Construction Engineering 28

  • 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.

Overtaking Maneuver

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Civil and Construction Engineering 29

Methodology

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Civil and Construction Engineering 30

  • This research employs a bicycle equipped with different sensors

such as LiDAR and GPS and a data acquisition system to integrate all data.

LiDAR and Bicycle Set up

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

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Civil and Construction Engineering 31

  • 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

City Selection

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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.
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Civil and Construction Engineering 33

Lansing, Michigan

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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.
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Civil and Construction Engineering 35

South Bend, Indiana

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vehicle in approaching zone

West Kalamazoo Street

  • A 2 and 3-lanes road with bike lane and shoulder
  • Speed limit of 25 mph
  • Annual Average Daily Traffic (AADT) is 14000.

vehicle in passing zone

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Pleasant Grove Road

  • A 2-lane road with a bike lane
  • Speed limit of 35 mph
  • Annual Average Daily Traffic (AADT) is 9300 Miller.

vehicle in approaching zone vehicle in passing zone

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Lincoln Way

  • A 3-lane road with a bike lane and sharrow
  • Speed limit of 40 mph
  • Annual Average Daily Traffic (AADT) is 35000.

vehicle in approaching zone vehicle in passing zone

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Portage Avenue Road

  • A 2-lane road with sharrow, and no bike lane
  • Speed limit of 30 mph
  • Annual Average Daily Traffic (AADT) are 17500.

vehicle in approaching zone vehicle in passing zone

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Civil and Construction Engineering

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Trajectory Data

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Trajectory Data

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Trajectory Data

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Trajectory Data

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Outline

  • Introduction to Remote Sensing Technology and Smart

City Applications

  • Laser Scanner, Challenges and Benefits
  • Lidar, Challenges and Benefits
  • Conclusion

Civil and Construction Engineering

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CONCLUSION

  • This study demonstrated that a LiDAR and Laser Scanner can be

used for static and dynamic object detection and classification.

  • Data acquisition and 3D modeling facilitated the evaluation

process of the local facilities

  • with regard to the ADA requirements
  • the road features were distinguished from off-road features
  • All possible vehicles, the vehicles were tracked in each individual

frame, the trajectory was created, and the driver’s behaviors were analyzed.

Civil and Construction Engineering

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Thank you!!

Civil and Construction Engineering 46

Question?