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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
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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
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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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270 pts per m2 800 pts per m2 1700 pts per m2
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
100 pts per m2 270 pts per m2 1000 pts per m2
7m
Single Pass
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60 km/h
100 pts per m2 270 pts per m2 1000 pts per m2
7m
Single Pass
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60 km/h
100 pts per m2 270 pts per m2 1000 pts per m2
7m
Single Pass
Double Pass 1100 pts per m2 550 pts per m2 1100 pts per m2
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80 km/h
70 pts per m2 200 pts per m2 700 pts per m2
7m
Single Pass
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80 km/h
70 pts per m2 200 pts per m2 700 pts per m2
7m
Single Pass
Double Pass
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80 km/h
70 pts per m2 200 pts per m2 700 pts per m2
7m
Single Pass
Double Pass 770 pts per m2 400 pts per m2 870 pts per m2
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100 km/h
65 pts per m2 180 pts per m2 600 pts per m2
7m
Single Pass
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100 km/h
65 pts per m2 180 pts per m2 600 pts per m2
7m
Single Pass
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100 km/h
65 pts per m2 180 pts per m2 600 pts per m2
7m
Single Pass
Double Pass 670 pts per m2 360 pts per m2 670 pts per m2
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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)
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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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