Vehicle trajectory extraction and integration from multi-direction video on urban intersection

Abstract

With the gradual maturity of computer vision technology, using intersection surveillance videos for vehicle trajectory extraction has become a popular method to analyze vehicle conflicts and safety in urban intersection. However, many intersection surveillance videos have blind spots, failing to fully cover the entire intersection. Vehicles may also obstruct each other, resulting in incomplete vehicle trajectories. The angle of surveillance videos can also lead to inaccurate trajectory extraction. In response to these challenges, this study proposes an vehicle trajectory extraction and integration framework using surveillance videos collected from four entrance of urban intersection. The framework first employs the improved YOLOv5s model to detect the positions of vehicles. Then, we proposed an object tracking model MS-SORT to extract the trajectories in each surveillance video. Subsequently, the trajectories of each surveillance video are mapped into the same coordinate system. Then the integration of trajectories is achieved using space–time information and re-identification (ReID) methods. The framework extracts and integrates trajectories from four intersection surveillance videos, obtaining trajectories with significantly broader temporal and spatial coverage compared to those obtained from any single direction of surveillance video. Our detection model improved mAP by 1.3 percentage points compared to the basic YOLOv5s, and our object tracking model improved MOTA and IDF1 by 2.6 and 2.1 percentage points compared to DeepSORT. The trojectory integration method achieved 94.7 % of F1-Score and RMSE of 0.51 m. The average length and number of the extracted trajectories has increased by at least 47.6 % and 24.2 % respectively compared to trajectories extracted from a single video.