# US 9,436,877 B2 · Pedestrian right of way monitoring and reporting system and method

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- Number: US 9,436,877 B2
- Document ID: US9436877B2
- Status: Granted
- Kind: B2
- Application number: 14/257,472
- Filed: 2014-04-21
- Published: 2014-10-23
- Granted: 2016-09-06
- Earliest claimed: 2013-04-19
- Assignees: Polaris Sensor Technologies, Inc.
- Applicants: Polaris Sensor Technologies, Inc.
- Inventors: Richard P. Edmondson; Jonathan B. Hanks
- Web page: https://patentgrep.com/patent/US9436877B2

## CPC

- G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69)
- G06F 18/2415: based on parametric or probabilistic models, e.g. based on likelihood ratio or false acceptance rate versus a false rejection rate
- G06F 18/256: {of results relating to different input data, e.g. multimodal recognition}
- G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51)
- G06V 20/41: {Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items (segmenting video sequences G06V20/49)}
- G06V 20/49: {Segmenting video sequences, i.e. computational techniques such as parsing or cutting the sequence, low-level clustering or determining units such as shots or scenes}
- G06V 20/53: {Recognition of crowd images, e.g. recognition of crowd congestion}
- G06V 20/54: of traffic, e.g. cars on the road, trains or boats
- G06T 2207/30236: Traffic on road, railway or crossing
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A system and method for monitoring vehicle traffic and collecting data indicative of pedestrian right of way violations by vehicles is provided. The system comprises memory and logic for monitoring traffic intersections and recording evidence indicating that vehicles have violated pedestrian right of way. Two sensor modalities collecting video data and radar data of the intersection under observation are employed in one embodiment of the system. The violation evidence can be accessed remotely by a traffic official for issuing of traffic citations.

## Claims

### Claim 1

A system, comprising:
memory; and
logic configured to receive and store in the memory radar data and video data indicative of possible pedestrians and vehicles in an area under observation,
the logic further configured to segment and classify the radar and video data and correlate classified radar objects with classified video objects to identify correlated objects of interest, wherein the logic configured to correlate classified radar objects with classified video objects comprises logic configured to search classified video objects for correlating classified radar objects, record in a matrix a likeness of the modalities for a property, compute a likeness score for each correlated object, and assign a confidence value for each object based upon the likeness score,
the logic further configured to track the correlated objects to identify tracked pedestrians and vehicles,
the logic further configured to receive and store in the memory traffic rules data indicative of pedestrian right of way traffic laws for the area under observation,
the logic further configured to process the tracked pedestrians and vehicles with the traffic rules data to generate and store in the memory data indicative of alleged vehicle pedestrian right of way violations.

### Claim 2 (depends on 1)

The system of claim 1, wherein the logic is further configured to receive and store in the memory traffic signal state data indicative of the state of a vehicle traffic signal corresponding to activity of the tracked radar and video objects.

### Claim 3 (depends on 2)

The system of claim 2, the traffic signal state data further comprises data indicative of the state of a pedestrian crosswalk signal.

### Claim 4 (depends on 1)

The system of claim 1, wherein the area under observation includes one or more pedestrian crosswalks.

### Claim 5

A method of recording evidence of suspected pedestrian right of way violations by vehicles, the method, comprising:
receiving raw video data from one or more video cameras collecting video data of an intersection of interest;
processing the raw video data to form packetized video data;
spatially segmenting the packetized video data and classifying video objects of interest;
receiving raw radar data from one or more radar sensors collecting radar data of the intersection of interest;
spatially segmenting the raw radar data and classifying radar objects of interest;
correlating the radar and video objects of interest, wherein the correlating step comprises
searching classified video objects for correlating classified radar objects,
recording in a matrix a likeness of the modalities for a property,
computing a likeness score for each correlated object, and
assigning a confidence value for each object based upon the likeness score;
tracking the correlated objects of interest;
receiving traffic rules data indicative of pedestrian right of way traffic laws;
applying the traffic rules data to the correlated objects of interest and recording alleged violation data.

### Claim 6 (depends on 5)

The method of claim 5, further comprising receiving traffic signal state data from a vehicle traffic signal and processing the traffic signal state data with the traffic rules to record alleged violation data.

### Claim 7 (depends on 6)

The method of claim 6, wherein the traffic signal state data comprises data indicative of the state of a vehicle traffic signal.

### Claim 8 (depends on 7)

The method of claim 7, wherein the traffic signal state data further comprises data indicative of the state of a pedestrian crosswalk signal.

### Claim 9

A method of recording evidence of suspected pedestrian right of way violations by vehicles, the method, comprising:
receiving raw video data from one or more video cameras collecting video data of an intersection of interest;
processing the raw video data to form packetized video data;
spatially segmenting the packetized video data and classifying video objects of interest;
receiving raw radar data from one or more radar sensors collecting radar data of the intersection of interest;
spatially segmenting the raw radar data and classifying radar objects of interest;
correlating the radar and video objects of interest,
tracking the correlated objects of interest, wherein the tracking step comprises predicting state vectors for prior known objects, updating state vectors based upon current observed objects, adding state vectors for new objects, and trimming state vectors for stale objects;
receiving traffic rules data indicative of pedestrian right of way traffic laws;
applying the traffic rules data to the correlated objects of interest and recording alleged violation data.

### Claim 10 (depends on 5)

The method of claim 5, further comprising remotely accessing the alleged violation data and generating traffic citations.