A Truck Parking Availability Notification System Based on Computer Vision · PDF...
Transcript of A Truck Parking Availability Notification System Based on Computer Vision · PDF...
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A Truck Parking Availability
Notification System Based on
Computer VisionT. Morris, D. Cook,
V. Morellas, and N. Papanikolopoulos
Dept. of CS, University of Minnesota
Supported by the Minnesota DOT & USDOT/FHWA Truck Parking
Facilities Program, #MNDOT/9908 WO 24-USDOT/TFAC8812-056
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TPAS Overview
• Motivation
• System principle of operation
• Sites deployed
• Detection performance results
• Upcoming expansion and deployments
• Operations and Maintenance Requirements
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System Implementation Requirements
and Scope
• Non-intrusive
• Complete 24/7 automation of direct
detection of parking space status
• Accurate and scalable
• Requiring no human intervention or re-
zeroing
• Cannot interfere with facility during
installation or maintenance
• Develop architecture to aggregate, archive,
and broadcast information to Roadside, Web,
and in-cab mechanisms
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• Automated counting of occupied parking spaces is not a
straightforward problem
– ‘Entrance/Exit ‘Trip-wire’ count detection: Small detection error
bias will cause occupancy count errors to accumulate at an
unacceptable rate (Martin, 2012, 2011; Gentler & Murray, 2011;
Fallon & Howard, 2011)
– Count errors affected by: trailer drops, gas fill-up, vehicle
classification and counting axles
Time
Sta
lls O
ccupie
d
observed
detected
count error
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• Ingress-Egress counts
may not indicate parking
space availability
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Persistent Accuracy
Accuracy = Usability
Recent studies (ATRI) suggest drivers will ignore
parking status notifications if wrong just 2 times
Above 95% indicated by carriers and drivers to
consider it useful (FHWA, ATRI)
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7
Key Idea for Detection
• Multiple camera views reconstruct the scene in 3D.
• 3D reconstruction: Measures space occupancy directly by ‘seeing’ the vehicles present or absent in a way similar to the way people do, in 3D.
• Remains robust to problems with sharp shadows, partial occlusion, and other lighting changes that traditionally confound ‘non-3D’ image processing techniques
• No recalibration or ‘re-zeroing’.
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x
yz
1 2 34
56
Detection Steps1. Multi-view PTZ HD
Images Acquisition
2. 3D
Reconstruction
and alignment
3. 3D
background
removal and
occupancy
classification
1 2 3 4 5 6
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Implemented State Sponsored Facilities
Elm Creek
• 15 stalls
• mile 215.0
Big Spunk Lake
• 16 stalls
• mile 151.7
20 mi
50 km
Wisconsin
Minnesota
South
Dakota
North
Dakota
• Rest Areas accessible for East Bound traffic on Interstate 94
• All within 100 miles of Minneapolis/Saint Paul, MN
Enfield
• 18 stalls
• mile 187.0
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Site Installations
• 35’ tall crank-down camera poles with up to 3 COTS PTZ cameras
• Power and communication paths from visitor building to poles
• Cellular Service for remote monitoring and real-time data transfer
• To date (May 2016) all sites in operation for 2 to 3 years
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Site Installations
Indoor consumer desktop
PCs, backup power, and
comm hardware
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Elm Creek
12
• Installed January 2013
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Big Spunk Lake
• Installed November 2013
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Enfield
• Installed March 2014
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Parking Status Validation Data
• 21,588 parking events 20 days of varied environmental
conditions in Feb - June 2013
• Per space detection accuracy of 97.87%
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Video Demonstration
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Parking Space Detection Performance
517,017 parking events across 95,252 time samples
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Conflict Detection ExamplesMissed vehicles Maneuvers Lane encroachment
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Quick Summary
• Persistent per space parking status greater
than 95% accurate
• Persistent count accuracy without re-zeroing
or recalibration operational maintenance
requirement
• In continuous operation at 3 public truck
parking facilities between 3 and 4 years (as
of May 2017).
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Expansion : Wisconsin Integration
(2016-2018)
• Implemented and evaluated a regional truck
parking notification architecture with TPAS
computer vision detection approach
• Deployed at Menomonie WISDOT Public Rest Area
• Parking Notification Integration Using Truck Smart
Parking Services (TSPS) TPIMS architecture
• Document guidelines for continued maintenance,
site hardware and software configuration
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Wisconsin DOT Truck Smart Parking Services (TSPS)
TPIMS Architecture
Enfield Rest
Area, Mile 187
Big Spunk
Lake Rest
Area, Mile 152
Elm Creek Rest
Area, Mile 215
Menomonie Rest
Area #61, Mile 43
**TSPS/ATMS
Server
WisDOT 511
System
WisDOT CMS
**Management TBD: TOPS Lab or WisDOT
3rd Party Data
Requests
WisDOT 511
Web
HTTPS Stateless RESTful API
JSON
TSPS
Reports(planned)
WisDOT
implemented
Rest area
det. tech.
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Site Installation and Design
• Installation costs and effort are site dependent – Number of spaces to monitor
– Geometric layout of parking spaces
– Existing infrastructure (poles, electricity, comm)
– Agency/organization equipment requirements
– Number of sites implemented
• Design and Site Engineering– Camera location and system configuration critical
– Potentially UMN might serve as lead or consultant
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Operations and Maintenance
• Site preventative maintenance– Clean camera domes & hardware inspection
– System contains self-monitoring tools to check
communications, camera related operations
– No regular re-zeroing or re-calibrations necessary
• Software updates and maintenance– Repository upgrades managed by UMN and private
company (in negotiation)
– Train and build user base community to perform
installation and site specific configurations
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Future Enhancements and Upgrades
Use fewer cameras
Expand to other states (Kansas with 22 rest areas)
Further relax camera placement constraints
Key requirement: no regular ‘re-zeroing’ or re-calibration
2-camera 3D
reconstruction in
development
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Kansas Day Scenario
22.44m41.26m
50.62m
115.52m
1
23
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Kansas Night Scenario
11.28m 8.42m28.56m
75.79m
1
2 3
4
14.96m 19.73m20.23m
23.24m
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End: Questions?
Supported by the Minnesota DOT & USDOT/FHWA Truck Parking
Facilities Program, #MNDOT/9908 WO 24-USDOT/TFAC8812-056
Contact info: Ted Morris, [email protected], (612) 626-8499
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Parking Facilities Performance
Measures
• Support parking facilities usability and cost/benefit
studies
Trucks Data Base &
Data Distrib. Node
(.NET & PostgeSQL)
• Capacity trends
• Dwell times
• Per-space
usage• Weekly
• Daily
• Hourly
• Seasonal
.
.
.
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Hourly Space Utilization 08/30/2013 – 09/08/2013
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Hourly Space Utilization 08/30/2013 – 09/08/2013
Manually Observed Detected
Trailer drop
Time (Hours)
Sp
ace N
um
ber