Hybrid Urban Canyon Pedestrian Navigation Scheme Combined PDR, GNSS and Beacon Based on Smartphone

A Coarse-to-Fine Framework for Multiple Pedestrian Crossing Detection

When providing route guidance to pedestrians, one of the major safety considerations is to ensure that streets are crossed at places with pedestrian crossings. As a result, map service providers are keen to gather the location information about pedestrian crossings in the road network. Most, if not all, literature in this field focuses on detecting the pedestrian crossing immediately in front of the camera, while leaving the other pedestrian crossings in the same image undetected. This causes an under-utilization of the information in the video images, because not all pedestrian crossings captured by the camera are detected. In this research, we propose a coarse-to-fine framework to detect pedestrian crossings from probe vehicle videos, which can then be combined with the GPS traces of the corresponding vehicles to determine the exact locations of pedestrian crossings. At the coarse stage of our approach, we identify vanishing points and straight lines associated with the stripes of pedestrian crossings, and partition the edges to obtain rough candidate regions of interest (ROIs). At the fine stage, we determine whether these candidate ROIs are indeed pedestrian crossings by exploring their prior constraint information. Field experiments in Beijing and Shanghai cities show that the proposed approach can produce satisfactory results under a wide variety of situations.

Deep Learning-Based Human Activity Real-Time Recognition for Pedestrian Navigation

Several pedestrian navigation solutions have been proposed to date, and most of them are based on smartphones. Real-time recognition of pedestrian mode and smartphone posture is a key issue in navigation. Traditional ML (Machine Learning) classification methods have drawbacks, such as insufficient recognition accuracy and poor timing. This paper presents a real-time recognition scheme for comprehensive human activities, and this scheme combines deep learning algorithms and MEMS (Micro-Electro-Mechanical System) sensors’ measurements. In this study, we performed four main experiments, namely pedestrian motion mode recognition, smartphone posture recognition, real-time comprehensive pedestrian activity recognition, and pedestrian navigation. In the procedure of recognition, we designed and trained deep learning models using LSTM (Long Short-Term Memory) and CNN (Convolutional Neural Network) networks based on Tensorflow framework. The accuracy of traditional ML classification methods was also used for comparison. Test results show that the accuracy of motion mode recognition was improved from 89.9%, which was the highest accuracy and obtained by SVM (Support Vector Machine), to 90.74% (LSTM) and 91.92% (CNN); the accuracy of smartphone posture recognition was improved from 81.60%, which is the highest accuracy and obtained by NN (Neural Network), to 93.69% (LSTM) and 95.55% (CNN). We give a model transformation procedure based on the trained CNN network model, and then obtain the converted .tflite model, which can be run in Android devices for real-time recognition. Real-time recognition experiments were performed in multiple scenes, a recognition model trained by the CNN network was deployed in a Huawei Mate20 smartphone, and the five most used pedestrian activities were designed and verified. The overall accuracy was up to 89.39%. Overall, the improvement of recognition capability based on deep learning algorithms was significant. Therefore, the solution was helpful to recognize comprehensive pedestrian activities during navigation. On the basis of the trained model, a navigation test was performed; mean bias was reduced by more than 1.1 m. Accordingly, the positioning accuracy was improved obviously, which is meaningful to apply DL in the area of pedestrian navigation to make improvements.

Recognition of Common Non-Normal Walking Actions Based on Relief-F Feature Selection and Relief-Bagging-SVM

Action recognition algorithms are widely used in the fields of medical health and pedestrian dead reckoning (PDR). The classification and recognition of non-normal walking actions and normal walking actions are very important for improving the accuracy of medical health indicators and PDR steps. Existing motion recognition algorithms focus on the recognition of normal walking actions, and the recognition of non-normal walking actions common to daily life is incomplete or inaccurate, resulting in a low overall recognition accuracy. This paper proposes a microelectromechanical system (MEMS) action recognition method based on Relief-F feature selection and relief-bagging-support vector machine (SVM). Feature selection using the Relief-F algorithm reduces the dimensions by 16 and reduces the optimization time by an average of 9.55 s. Experiments show that the improved algorithm for identifying non-normal walking actions has an accuracy of 96.63%; compared with Decision Tree (DT), it increased by 11.63%; compared with k-nearest neighbor (KNN), it increased by 26.62%; and compared with random forest (RF), it increased by 11.63%. The average Area Under Curve (AUC) of the improved algorithm improved by 0.1143 compared to KNN, by 0.0235 compared to DT, and by 0.04 compared to RF.