Behaviour Control with Augmented Reality Systems for Shared Spaces
25 Aug 2020-ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences (Copernicus GmbH)-pp 591-598
TL;DR: This paper presents a Behaviour Control with AR (BCAR) Systems based framework for control of user behaviour in a shared space via augmentation and proposes how a control logic can be part of it.
Abstract: . Augmented Reality (AR) in a traffic context has mainly been used in navigation with path augmentation, focused around safely guiding the user with prior knowledge of the route and the destination. Other works are reported to warn drivers by visualizing other traffic participants or dangers, which are yet currently out of sight. However they do not cover aspects of mediating control by recommending users with actions, even when such efforts are expected to foster collaboration in a multiagent environment. To the best of our knowledge, AR has not yet been applied to visualize virtual control information, e.g. virtual lanes or signposts, notably in the context of shared spaces. Such an environment should support spatial understanding of proximate participants with adaptive augmented controls to recommend actions to each user. However when such systems work in context where a conflict of interest would arise, a rule based control logic centered on priority should be accounted for. Traditionally, these rules are defined by traffic management. This paper presents a Behaviour Control with AR (BCAR) Systems based framework for control of user behaviour in a shared space via augmentation and proposes how a control logic can be part of it. The framework which incorporates navigation focuses on mapping users from real to the virtual world .This framework also enables simulations and visualization of multiagent interactions and proposing controls for user actions leveraging the environment complexity reduction achieved through the real to virtual transfer. A prototype implementation of the proposed framework with ARCore and unity3D has been evaluated for pedestrian behaviour control to understand its feasibility.
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Journal Article•
TL;DR: The system enables the robot to navigate autonomously, plan paths and avoid obstacles using a vision based topometric map of its environment using a globally-consistent pose-graph with a local 3D point cloud attached to each of its nodes.
Abstract: This paper presents a mapping and navigation system for a mobile robot, which uses vision as its sole sensor modality. The system enables the robot to navigate autonomously, plan paths and avoid obstacles using a vision based topometric map of its environment. The map consists of a globally-consistent pose-graph with a local 3D point cloud attached to each of its nodes. These point clouds are used for direction independent loop closure and to dynamically generate 2D metric maps for locally optimal path planning. Using this locally semi-continuous metric space, the robot performs shortest path planning instead of following the nodes of the graph --- as is done with most other vision-only navigation approaches. The system exploits the local accuracy of visual odometry in creating local metric maps, and uses pose graph SLAM, visual appearance-based place recognition and point clouds registration to create the topometric map. The ability of the framework to sustain vision-only navigation is validated experimentally, and the system is provided as open-source software.
27 citations
19 Sep 2021
TL;DR: In this paper, an online questionnaire was used to ask participants about how they would like a driver of the manually driving vehicle to communicate with VRUs in a shared space, and a potential eHMI design concept was proposed for different VRUs to meet their various expectations.
Abstract: In comparison to conventional traffic designs, shared spaces promote a more pleasant urban environment with slower motorized movement, smoother traffic, and less congestion. In the foreseeable future, shared spaces will be populated with a mixture of autonomous vehicles (AVs) and vulnerable road users (VRUs) like pedestrians and cyclists. However, a driver-less AV lacks a way to communicate with the VRUs when they have to reach an agreement of a negotiation, which brings new challenges to the safety and smoothness of the traffic. To find a feasible solution to integrating AVs seamlessly into shared-space traffic, we first identified the possible issues that the shared-space designs have not considered for the role of AVs. Then an online questionnaire was used to ask participants about how they would like a driver of the manually driving vehicle to communicate with VRUs in a shared space. We found that when the driver wanted to give some suggestions to the VRUs in a negotiation, participants thought that the communications via the driver's body behaviors were necessary. Besides, when the driver conveyed information about her/his intentions and cautions to the VRUs, participants selected different communication methods with respect to their transport modes (as a driver, pedestrian, or cyclist). These results suggest that novel eHMIs might be useful for AV-VRU communication when the original drivers are not present. Hence, a potential eHMI design concept was proposed for different VRUs to meet their various expectations. In the end, we further discussed the effects of the eHMIs on improving the sociality in shared spaces and the autonomous driving systems.
10 citations
24 Jul 2021
TL;DR: In this paper, an exploratory study was conducted to evaluate how speed and path of pedestrians are impacted when using an augmented reality-based virtual traffic light interface to control collisions in pedestrian motion.
Abstract: Shared spaces are regulation free, mixed traffic environments supporting social interactions between pedestrian, cyclist and vehicles. Even when these spaces are designed to foster safety supported by reduced traffic speeds, unforeseen collisions and priority conflicts are always an open question. While AR can be used to realise virtual pedestrian lanes and traffic signals, the change in pedestrian motion dynamics using such approaches needs to be understood. This work highlights an exploratory study to evaluate how speed and path of pedestrians are impacted when using an augmented reality based virtual traffic light interface to control collisions in pedestrian motion. To achieve this objective we analyse the motion information from controlled experiments, replicating pedestrian motion on a lane supported by a stop and go interface and including scenarios such as confronting a crossing pedestrian. Our statistical and quantitative analysis gives some early insights on pedestrian control using body worn AR systems
5 citations
01 Oct 2022
TL;DR: In this paper , the authors proposed a Pedestrian-in-the-Loop (PIL) Mixed Reality (MR) framework, where mobile virtual cyclist avatars co-exist with humans in a real-world outdoor space.
Abstract: Participating in urban traffic is inherently risky for humans. There-fore, in psychology, behavioural studies have been using Virtual Reality (VR) to simulate and experiment with human behaviour. Safety critical interactions (e.g. conflict, collision or near collision) can be captured from the motion trajectories. However, the motion data in virtual settings is influenced by the modelling software used to create the virtual world, which might fail to capture one-to-one interactions accurately (such as interactions between pedestrians and cyclists in mixed traffic). Our system paper proposes a Pedestrian-in-the-Loop (PIL) Mixed Reality (MR) framework, where mobile virtual cyclist avatars co-exist with humans in a real-world outdoor space. Such a setting can be used to study a pedestrian subject, both viewing and interacting with moving holograms of cyclists in real traffic. The novelty of our approach is modelling virtual avatars as cognitive agents. To achieve this, we integrate agent-based models so that the virtual avatar can sense the environment and interact with the real user participating in the experiments. We demonstrate that this approach could contribute to effectively studying of pedestrian interactions. We also perform an evaluation to quantify the amount of trajectory error for our outdoor framework. For this, we compare the position data of a subject during an experiment to a proven benchmark for indoor motion capture. Additionally, an application of using the framework to demonstrate pedestrian dominance is presented.
1 citations
TL;DR: The important components of the crowd steering system are presented, the enablers and gaps in the current approach are discussed, and the proposed idea to support the crossing of pedestrians via grouping and project the virtual lanes in shared spaces is illustrated.
Abstract: The shared space design is applied in urban streets to support barrier-free movement and integrate traffic participants (such as pedestrians, cyclists and vehicles) into a common road space. Regardless of the low-speed environment, sharing space with motor vehicles can make vulnerable road users feel uneasy. Yet, walking in groups increases their confidence as well as influence the yielding behavior of drivers. Therefore, we propose an innovative approach to support the crossing of pedestrians via grouping and project the virtual lanes in shared spaces. This paper presents the important components of the crowd steering system, discusses the enablers and gaps in the current approach, and illustrates the proposed idea with concept diagrams.
1 citations
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TL;DR: In this article, the authors consider the potential for shared space principles to prompt a new approach to the design, management and maintenance of streets and public spaces in cities, towns and villages.
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220 citations
"Behaviour Control with Augmented Re..." refers background in this paper
...Due to this lack of legally binding elements like pedestrian crossings and signs, people are said to be more safety-conscious and to pay more attention to the behaviour of other traffic participants (Hamilton-Baillie, 2008)....
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01 Jan 2003
TL;DR: A 3-tier architecture to manage a common data model for a set of applications is developed that is inspired by current Internet application frameworks and consists of a central storage layer using acommon data model, a transformation layer responsible for filtering and adapting the data to the requirements of a particular applications on request, and finally of the applications itself.
Abstract: Augmented reality (AR) can provide an excellent user interface for visualization in a mobile computing application. The user’s view is augmented with location based information at the correct spatial location, thus providing an intuitive way of presenting such information. In this work we demonstrate the use of AR for collaborative navigation and information browsing tasks in an urban environment. A navigation function allows one or more users to roam through a city and guides them to selected destinations. Information browsing presents users with information about objects in their surrounding. Both functions feature support for collaboration. The developed system does not only concentrate on the user interface aspects but also provides a scalable infrastructure to support mobile applications. To this end we developed a 3-tier architecture to manage a common data model for a set of applications. It is inspired by current Internet application frameworks and consists of a central storage layer using a common data model, a transformation layer responsible for filtering and adapting the data to the requirements of a particular applications on request, and finally of the applications itself.
162 citations
"Behaviour Control with Augmented Re..." refers methods in this paper
...Collaborative navigation and information browsing tasks have used differential GPS based systems in an urban environment (Reitmayr and Schmalstieg (2004))....
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