ERA NET Road National University of Ireland Maynooth Safety at … · 2016. 11. 18. · EuRSI...

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ERA NET Road

Safety at the Heart of Road Design

European Road Safety Inspection

EuRSI

Budapest

4th March 2010

Tim McCarthy

Conor McElhinney

www.eursi.net

1795 – Government Act (Grattan) Seminary, largest in the world

1910 – Became a recognised college under Federated NUI

1966 – Opened doors to lay students and grew over following three decades

1997 – Established as NUI Maynooth under the 1997 Universities act.

Three faculties comprising 26 academic departments;

-Arts, Celtic Studies and Philosophy

-Science and Engineering

-Social Sciences

-8,600 registered students

National University of Ireland Maynooth

Library, NUIM Square, NUIM Arch, NUIM

www.eursi.net

National Centre for Geocomputation (NCG) www.nuim.ie/ncg

• 5 X Full time academic staff

• 15 Researchers +PhD studensts

Research Areas

• Environment Monitoring, Geocomputation

• Geovisual Analytics, Geovisualisation

• Remote Sensing, Spatial Analysis, Geostatistics

• Spatial Modelling, Spatial Statistics, Handling uncertainties

• Machine Learning and Spatial Data Mining

NUIM, GeoInformatics & Geotechnologies

John Hume Building, NUIM

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Strategic Research Cluster in Advanced Geotechnologies (StratAG) www.stratag.ie

• Established 2008, Coordinated by NCG, 13 X PI/Co-PIs

• SFI (€10m), 5 year funded research programme

• 4 X Universities (NUIM, DIT, Trinity & UCD), Over 25 researchers

• Industry partnership (ESRI, eSpatial, PMS, BKS-Fugro, GSi, MI, NRA,

OSi)

Research Areas

• Sensors

• Spatial Algorithms

• Visualisation

• LBS

NUIM, GeoInformatics & Geotechnologies

EE Bldg, NUIM

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EuRSI Background – In a Nutshell

•Rural roads comprise a large per-centage of the 5million km of roads throughout Eu-27

•2006 – 43,000 people killed across Europe

•EC drafted an objective to reduce the number of deaths to 25,000 by 2010

•Road Infrastructure Directive due to be implemented December 2010

•One of the four corner-stones of directive deals with Road Safety Inspection (RSI)

•Central thrust of EuRSI project is to address some of the short-comings in current approaches

to RSI along rural roads where vast percentage of deaths occur

-Development of latest state-of-the-art mobile route-corridor mapping technologies

to highlight hazards and replace existing manual inspection methods.

-Exploring novel risk assessment approaches to highlighting rural-road sections

that may require immediate safety intervention following an RSI.

-Constribute to trans-national standards through testing and independent

validation of the system in four separate member states.

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EuRSI Project Partners

Dr. Tim McCarthy, NUI Maynooth, Ireland

Dr. Conor McElhinney, NUI Maynoth, Ireland

Ronan O Brenain, NUI Maynooth, Ireland

Dr. John McDonald, NUI Maynooth, Ireland

Dr. Alexei Pozdnoukhov, NUI Maynooth, Ireland

Prof. George Vosselman, ITC, The Netherlands

Dr. Martin Rutzinger, ITC, The Netherlands

Dr. Shi Pu, ITC, The Netherlands

DI Dr. Friedrich Nadler, Nast Consulting, Austria

Birgit Nadler, Nast Consulting, Austria

Mark Jenkins, IBI RouteMapper, UK

Grant Dickson, IBI RouteMapper, UK

Dr. Kieran Feighan, PMS, Ireland

SFI (SRC-ID 07/SRC/I1168)

ERA NET Road (SRO1) PEB

Harry Cullen, NRA, Ireland

Sandra Brown, HA, UK

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EuRSI Work Plan

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EuRSI Work-Plan (Total = 38.65 man-months)WP1 Project Management (2 man-months)

WP1.1 Project management & Scientific Coordination (NUIM:2)

WP2 3D Route Re-construction (15.94 man-months)

WP2.1 Data Collection (NUIM:1)

WP2.2 Data Fusion (ITC:8.94, NUIM:2)

WP2.3 3D Reconstruction (NUIM:4)

WP3 Risk Modelling (12 man-months)

WP3.1Road Safety Inspection Schemes Review (NAST:4)

WP3.1 Risk Assessment Review (NAST:3)

WP3.3 Data Collation (IBI:1)

WP3.3 Rule based risk assessment module (NUIM:3)

WP3.5 Validation (NUIM:1)

WP4 Evaluation (4 man-months)

WP4.1 Evaluation plan (NUIM:0.5)

WP4.2 Test & Evaluation (NUIM:1, PMS:1, IBI:0.5, NAST:0.5)

WP4.3 Evaluation Report (NUIM:0.5)

WP5 Dissemination (5 man-months)

WP5.1 Web Site design & construction (NUIM:1)

WP5.2 Publication & Conferences (All:3)

WP5.3 Workshops (NUIM:1)

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31st Jan 2011WorkshopM5.3

30th Nov 2010Evaluation ReportM4.3

31st Oct 20104 X Country Route Test & EvaluationM4.2

31st May 2010Refined 3D Route ReconstructionM2.3b

31st May 2010Road Safety Inspection ValidationM3.5

31st May 2010Refined Feature ExtractionM2.2

30th Apr 2010Rule based risk assessment moduleM3.3

26Feb10Risk Assessment ReviewM3.2

26Feb10Initial 3D Route ReconstructionM2.3a

26Feb10Road Safety Inspection Schemes ReviewM3.1

26Feb10Initial Feature ExtractionM2.2

1st Oct 2009Kick-off meeting Review project scope & objectivesM1.1

Due DateMilestonesNr.

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31st Mar 2011Final Report detailing Technology, Methodology,

Evaluation, Workshop & Recommendations

D1.1

31st Mar 20115 X Publications (Journal/Conferences)D5.2

31st Oct 20104 X Country Route EvaluationD4.2

30th Jun 20103D Route Reconstruction ToolkitD2.3

31st May 2010Road Safety Inspection ValidationD3.5

31st May 2010Feature Extraction ToolkitD2.2

30th Apr 2010Rule based risk assessment moduleD3.3

26 Feb 10Risk Assessment ReviewD3.2

26 Feb 10Road Safety Inspection Schemes Review D3.1

Due DateDeliverable Name/Report NameNr.

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Mobile Mapping Systems

Technology

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NUIM

Driver Space

Researcher Space

Server Space

Storage Space

1. Mono Camera

2. & 3. Colour Camera

GigE (1360*1024), 5 f.p.s.

2 3

Operator Driver

Monitor

Power Sub-system (2kW)

2 X Data Logging PC

Network Switch

High Speed TM4 GPS

12V DC

230V mains

IR LED IR LEDInfrared LED illumination

on roof-rack

Mains

Power

On/Off

Fan-cooled

Fan, Flasher

On/OffOrange Safety flasher light,

fan & onboard vehicle power

On/Off in Driver Space

Hatch doors for access

to Server space from rear

storage space

XP-1 Mobile Mapping System Vehicle Layout

1

IR

On/Off

Sliding-door for access

to Server space from side

IXEA LandINS datalogger

Riegl VQ-250 dataloggerLiDAR & Navigation

Sensor Cluster mounted

On left rear roof-rack corner

D.M.I. on right rear

wheel

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0.40.05Z (m)

0.600.02X,Y (m)

0.0050.005Roll/Pitch

(deg)

0.010.01True Hdg

(deg)

300s GPS

outage

Post-

processe

d

GPS/IMU

(IXSEA

GPS/IMU)

120-deg700nm – 900nmActive LED IR

floodlights

1280*1024, 150fpsB,G,R, IR-1, IR-2*Condor 5-CCD

640*512, 30fps7.5 – 13 µm, un-

cooled

**Thermal FLIR

SC660)

1360*1024, 15 -

64fps

BGR & Mono*Visible (X 6) Genie-

C

Sensor size/rateSpectral

bandwidth

Imaging

10mm/10mmNIR, 300kHz, 360o, 17mm point spread at 50m,

0.001o angular resolution, 300m range, 16-bit

intensity

Riegl VQ-250

208X227X376mm, 12.5kg

Accuracy/Precisi

on

PerformanceLiDAR

XP-1 Sensor Performance

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LiDAR Fundamental Operation

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LiDAR Fundamental Operation

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Output Formats

• Riegl World Files

• LAS 1.1

• ASCII

• Terrascan

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LiDAR Attributes - VQ-250 Format SDC 5.4

TIME : DOUBLE; // seconds of the day or of the week, depending on GPS string

RANGE : SINGLE; // raw measured range value [m]

THETA : SINGLE; // raw measured theta value [deg]

X, Y, Z : SINGLE; // x, y, z value of point in scanner's own coordinate system [m]

AMPLITUDE : WORD; // linearized amplitude

WIDTH : WORD; // width of target return (full width half maximum) [0.1 ns]

TARGETTYPE : BYTE; // 0 .. COG, 1 .. PAR, 2 .. GAUSS

TARGET : BYTE; // index of target (1 .. NUMTARGET)

NUMTARGET : BYTE; // total number of targets

RGINDEX : WORD; // range gate index of measurement

CHANNELDESC : BYTE; // channel descriptor (Bit6: 0=low, 1=high, Bit0+1: Facet no.)

CLASSID : BYTE; // class identifier (ground, vegetation, ...)

RHO : SINGLE; // tile mount angle [deg]

REFLECTANCE : SMALLINT;// reflectance [0.01 dB]

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635 points per square meter

Along scan - 2cm separation Across scan - 7cm separation

LiDAR Point Density - Road Surface

Survey Vehicle

Travel-Direction

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Imaging Sensors

• 6 X Progressive Scan cameras

• 1 X 5 CCD Multispectral Camera

• 1 X Thermal (7-13 micron)

• Sync using high-speed TM-4

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Imaging Sensors

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EuRSI

Mobile Mapping Systems - Initial Results

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Risk Assessment – Non-urban route networks

• Semi-Automate/Automate capture of Road Geometry & Road side features

– Physical road description (2.5D surface incl. road markings)

– Road-side classification (Wall/Fence, Hedge, Margin, Dyke, Open field etc)

– Network Topology

– Sight Lines

– Hazards (Utility Pole, Drainage, Rock Outcrop, Concrete structure, bridge,

entrance etc)

• Pavement Condition

• Points of Interest (POIs) eg Schools, Parking

• Traffic Volume

• Accident Statistics

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NUIM = Road Geometry & 3D Reconstruction

ITC = Road Side Features

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Top View

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Road Bend

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Road View

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Left Margin

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Right Margin

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Road-side-1

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Road-side-detail

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Road-side-detail



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EuRSI RoadRunner

XP-1 LiDAR processing Toolkit

•.NET environment

•Working with ASCII format, will ensure support for LAS1.3

•Full control in terms of filtering the data

•Need to add 3D visualisation component (OpenGL or DirectX)

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Road Side Features (ITC) eg Pole Detection

• Region Growing – Co-Planar Points

• Identify Ground, Wall, Pole-like structures

• Separate Pole-like Objects

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Pole Detection

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Results – Area-1

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Results – Area-1

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Results – Strip-8

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Results – Strip-8

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Height Classes

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Cross-section Road Sign

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Planarity of top percentile

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Planarity of top percentile

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Phantom points if target has high reflectance

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EuRSI

Draft Deliverables and Ongoing Work

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D3.1 - Draft Road Safety Inspection Report – Summary

Counties with Recent Information available

• Austria, Netherlands, France, Norway, Latvia, Luxemburg, Cyprus and Romania

• Day-time/Night time survey, check-lists, accident stats

• Manual/video based recording eg Eves (Austria), Vidkon (Norway)

Countries with no recent information since Ripcord Iserest (2005)

Belgium, Czech Republic, Denmark, Finland, Germany, Greece, Hungary, Poland, Portugal, Sweden, Switzerland

Countries with no information

Italy, Ireland, UK, Bulgaria, Estonia, Malta, Slovakia, Slovenia, Spain

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D3.2 - Draft Safety Risk Assessment – Summary

• EuroRAP

–Risk Maps

–Star Ratings – Road Protection Score (RPS)

• IASP (Identification of Hazard Locations and Rankings of Measures to Improve Safety on Local Rural Roads)

–Alignment design consistency models

–Safety Inspection Process

–Crash Prediction Module (CPM) from FHWA

Safety Index (SI) = Exposure X Accident Freq. Fact. X Accident Severity factor

• Austrian RSI

–Long. Section, Topology, X-section, Visibility, Drainage, Intersections, Entrance/Exit, Station, City Entrance/Exit, Railway crossing, Road Surface, LighgtConditions, Traffic Sign/Road markings, Vegetation, Crash barriers, Wildlife, Traffic lights, Road Surroundings, Traffic Information, Accidents.

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IBI RouteMapper – Data CollationDatasets• Pavement Surface

-C.V.I.

-SCRIM

-TRACS (HA) or SCANNER (L.A.)

• Points of Interest (POI)

• Stats-19

• Traffic Count

28.828.6

%

2811584410020A435 Stratton to

Seven

Springs

21.721.3

%

89163027161140026A429 North of

Northleach

R/b

26.426.0

%

7316201621880023.0A4136 Huntley to

C boundary

Rate

(based on 3yr

10mths)

SR Total2009

(so far)

200820072006Typical TrafficLength

(km)

Route

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EuRSI

Trans-National Test

50km – 100km

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40 km/h

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40 km/h

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7m

40 km/h

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7m

Single Pass

40 km/h

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270 pts per m2 800 pts per m2 1700 pts per m2

7m

Single Pass

40 km/h

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7m

Single Pass

Double Pass 2000 pts per m2 1600 pts per m2 2000 pts per m2

40 km/h

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60 km/h


7m

Single Pass

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60 km/h


7m

Single Pass

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60 km/h


7m

Single Pass


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80 km/h


7m

Single Pass

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80 km/h


7m

Single Pass

Double Pass

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80 km/h


7m

Single Pass


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100 km/h


7m

Single Pass

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100 km/h


7m

Single Pass

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100 km/h


7m

Single Pass


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ITC Research Trans-National Test

N18 from Enschede to Groenlo (27 km)

N35 from Zwolle to Wierden (40 km)

N36 from Westerhaar-Vriezeveensewijk to Hardenberg (12 km)

N34 from Hardenberg to Ommen (13 km)

N48 from Ommen naar Hoogeveen (20 km)

These are all roads that have (sections with) 2 star EuroRAP rating.

Contact :-

Herman Moning, Rijkswaterstaat

Centre for Transport and Navigation

& Safety (RWS)

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IBI RouteMapper – Trans-National Test

A628 - HA Area-12,

Oliver Goss A-One

Gloucestershire CC

Cath Hawe

Scott Tomkin

HA Contact,

Sandra Brown

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IBI RouteMapper – Trans-National Test

Gloucestershire CC

Contact :-

Cath Hawe

Scott Tomkin

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NUIM – Ireland Trans-National Test

• M4/N4 from Kinnegad to Longford

• N52 from Delvin to Tyrellspass.

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EuRSI Web site (www.eursi.net)

THE END

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Spare Slides – Can be Deleted

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Mobile Mapping Systems – Research Areas

• Performance Assessment

–Data Quality (Accuracy, completeness, repeatability etc), LOD required,

Sampling, Efficiency, Cost effectiveness

• Sensor & Data Fusion–LiDAR & Imaging data streams (calibration, frame of reference, multi-dimensional, multi-thematic)

• Feature Extraction/3D Reconstruction–Man-made & natural features

• Navigation Bridging

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Target Journals/ConferencesJournal

• Journal of ISPRS (2.293)

• ASPRS PE&RS (1.1)

• Journal of Computing in Civil Engineering

• Remote Sensing of the Environment (3.94)

• Computers & Geosciences (1.188)

• Computers, Environment & Urban Systems (1.025)

• The Photogrammetric Record (1.417)

• Journal of ITS (1.031)

• European Journal of Transport and Infrastructure Research

• European Journal of Scientific Research

• Journal of Safety Research (1.239)

• Computational Geosciences (1.222)

• Journal of Geographical Systems (1.25)

Conference Proceedings (Peer Reviewed)

ISPRS – 2010 – Commission V – Close Range Measurement – Newcastle-upon-Tyne, UK

AET – 2010 (Ass. For European Transp.) – Glasgow, UK

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Research & Development Plan 2010

Publication

• 2 X Peer reviewed Proceedings

– ISPRS – Newcastle-on-Tyne (abstract submitted)

– AET – Glasgow (abstract submitted)

• 2 X Journal papers

– Route geometry extraction and 3D reconstruction (in prep.)

– Spatial Video – Technology & Applications (in prep.)

• PhD papers

– MMS performance (mid 2010)

– Feature extraction (mid 2010)


www.eursi.net www.eursi.netISPRS LAS 1.3, approved Sept 2009

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Field[0]: TIME Unit= secs Format=6 Action= -

| Field[1]: RANGE Unit= m Format=3 Action= -

| Field[2]: THETA Unit= deg Format=3 Action= -

| Field[3]: X Unit= m Format=3 Action= -

| Field[4]: Y Unit= m Format=3 Action= -

| Field[5]: Z Unit= m Format=3 Action= -

| Field[6]: LATITUDE Unit= deg Format=8 Action= -

| Field[7]: LONGITUDE Unit= deg Format=8 Action= -

| Field[8]: ALTITUDE Unit= m Format=3 Action= -

| Field[9]: AMPLITUDE Unit= Format=- Action= -

| Field[10]: WIDTH Unit= Format=- Action= -

| Field[11]: TARGETTYPE Unit= Format=- Action= -

| Field[12]: TARGET Unit= Format=- Action= -

| Field[13]: NUMTARGET Unit= Format=- Action= -

| Field[14]: RGINDEX Unit= Format=- Action= -

| Field[15]: CHANNEL Unit= Format=- Action= -

| Field[16]: CLASSID Unit= Format=- Action= -

| Field[17]: RHO Unit= deg Format=3 Action= -

| Field[18]: REFLECTANCE Unit=0.01 Format=2 Action=

ASCII File Format

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ERA NET Road National University of Ireland Maynooth Safety at … · 2016. 11. 18. · EuRSI...

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Transcript of ERA NET Road National University of Ireland Maynooth Safety at … · 2016. 11. 18. · EuRSI...