Presentación de la Universidad del Rey Juan Carlos sobre el Bus Vigia realizada durante las jornadas HOIP 2010 organizadas por la Unidad de Sistemas de Información e Interacción TECNALIA. Más información en http://www.tecnalia.com/es/ict-european-software-institute/index.htm

1. I WORKSHOP INTERDISCIPLINAR EN MOVILIDAD Y TRANSPORTE URBANO
Hands-on Image Processing 2010 (HOIP’10). Security,
Surveillance and Identification in Everyday Life
BusVigia: On Board Surveillance of a
Bus Lane
David Fernández López Antonio Collazos Carrera Antonio Sanz Montemayor
david.fernandez@urjc.es antonio.collazos@urjc.es antonio.sanz@urjc.es
Juan José Pantrigo Fernández Marisa Delgado Jalón
juanjose.pantrigo@urjc.es Marisa.delgado@urjc.es

2. I WORKSHOP INTERDISCIPLINAR EN MOVILIDAD Y TRANSPORTE URBANO
Motivation
 Cátedra ETM
 Is a research line focusing on technologies applied to transport
 Interests in video surveillance
 Interest for us: new real problem challenge
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3. I WORKSHOP INTERDISCIPLINAR EN MOVILIDAD Y TRANSPORTE URBANO
Motivación
 Cátedra ETM
 Is a research line focusing on technologies applied to transport
 Interests in video surveillance
 Interest for us: new real problem challenge
 SACE: Servicio Apoyo al Control del Estacionamiento
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4. I WORKSHOP INTERDISCIPLINAR EN MOVILIDAD Y TRANSPORTE URBANO
Motivación
 Cátedra ETM
 Is a research line focusing on technologies applied to transport
 Interests in video surveillance
 Interest for us: new real problem challenge
 SACE: Servicio Apoyo al Control del Estacionamiento
 Bus lane surveillance can be done on board the bus?
 Some advantages:
 Bus lane surveillance more efficient
 Generate statistics of the state of the bus lane
 Statistics can guide SACE vehicles to interesting areas
 improvement of traffic
 BusVigía project
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BusVigía Project
 BusVigía main objective
 Development of an on-board surveillance system to automatically
control the bus lane
 Research group
 2 researchers and 1 postgraduate student
 Project Web:
 http://www.catedraetm.es/investigacion/proyecto_busvigia/
Experiments Experiments
Start in real on-board the End
Roadmap HOIP
conditions bus
November June
February March November
2009 2011
2010 2010 2010
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Related Developments
 Opel Eye
 Subaru EyeSight
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Related Developments
 DARPA Challenge
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8. I WORKSHOP INTERDISCIPLINAR EN MOVILIDAD Y TRANSPORTE URBANO
BusVigía project challenges
 Continuously changing scene
 Background subtraction methods may not be useful
 Changing road color  color filtering must be robust
 High variability in lighting conditions
 Weather conditions
 Different lighting types:
 Natural lighting in roads, streets…
 Artificial lighting in tunnels, bus stations…
 Lane markers and other signs
 Lane markers not always visible
 Different bus lane markers
 Different painted road signs
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BusVigía: view on-board the
bus
ROI
Road
Lane marker
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BusVigía Stages
 Stage 1: lane change detection
 Stage 2: obstacle detection
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BusVigía Stages
 Stage 3: scene capture sending to control center
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BusVigía Stages
 Real time stats
 Guiding SACE vehicles to
interesting areas
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BusVigía interface On-board bus view
Obstacle
Lane change detection
detection
Notification
Area
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BusVigía: Measurements
Measurement Analysis
Lane change detector
Color filter
Threshold image
Motion detection
Background
Subtraction
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15. I WORKSHOP INTERDISCIPLINAR EN MOVILIDAD Y TRANSPORTE URBANO
BusVigía: Measurements
Measurement Analysis
Lane change detector
ni nc nd
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BusVigía: Measurements
Measurement Analysis
Obstacle detector
Presence detector
Color Filter Image –
Thresholded Image
AND over the
previous images
Edge detection

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BusVigía: Descripción medidas
Measurement Analysis
Obstacle detector
nt
nc
nb

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Experimental Results
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Experimental Results
Lane change detection
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Experimental Results
Lane change detection
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Experimental Results
False negative  undetected lane change
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Experimental Results
False Positive  painted road signs
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Experimental Results
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12
10
8
6
4
2
0
True False True False True False True False True False
positives postives positives postives positives postives positives postives positives positives
Background subtraction Thresholding Color filter Moving detection System results
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Experimental Results
Obstacle detector
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Experimental Results
Error fonts
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Conclusions
 Development of a vision-based system for bus lane
monitoring
 Working under stable lighting conditions
 Not tested under rain and poor lighting conditions (problems
coming)
 Main contribution: measurement combination
 Improvement in the false positives rate
 ROI based modeling
 Improvement in the flexibility and overall performance
 Telematic system for sending and receiving alerts from
the on-board system
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Future Works
 False positives due to lane markers
 Complex problem
 Robust obstacle detection
 Use vehicle models (knowledge injection)
 Depth modeling
 Stereo system
 Lane type discrimination
 Bus lane markers
 Detecting road and sidewalk
 Stats
 Event collector system
 Real time monitoring of the overall city bus lane system
 OCR license plate number extraction
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