EasyTracker

Automatic Transit Tracking, Mapping, and

Arrival Time Prediction Using Smartphones
James Biagioni, Tomas Gerlich,
Timothy Merrifield and Jakob Eriksson

We love bus trackers!

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Winter in Chicago

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Our shuttle web (before)

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Our shuttle web (before)

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Our shuttle web (after)

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One service for everyone

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Our shuttle web

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Our shuttle web

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This paper in a nutshell

Automatic generation of
route shapes
- stop locations
- schedules
-

Online processing for

vehicle-to-route classification
- arrival-time prediction
-

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EasyTracker installation

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EasyTracker installation
1. Obtain smartphone

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EasyTracker installation
1. Obtain smartphone
2. Install EasyTracker app

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EasyTracker installation
1. Obtain smartphone
2. Install EasyTracker app
3. Stick phone in bus

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4. Relax

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System overview
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GP

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System overview
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Batch processing

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Batch processing

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Raw GPS traces

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Route map

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Raw GPS traces

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Kernel Density Estimation

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Kernel Density Estimation

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Kernel Density Estimation

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Kernel Density Estimation

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Kernel density estimation

1
f(x) =
n

n
X

K(x

xi )

i=1

K(x) = p

1
2 2

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x2
2 2

2-D histogram

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Trajectory density estimate

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Thresholded image

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Map extraction

Davies et al., 2006

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Route extraction

Map match GPS traces

Viterbi-based map matching
- based on Thiagarajan, et al. 2009
-

Extract common routes

edge subsequence matching
- statistical test removes spurious results
-

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction

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Route extraction results

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Welchs t-Test
0.030

0.023

0.008

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P-value

0.015

Routes separated
Real Routes

Spurious Routes

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Stop extraction

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Route-labeled GPS traces

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2-D histogram

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Point density estimate

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Thresholded binary image

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Noise in binary image

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Noise reduced binary image

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Stop extraction

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Stop extraction

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Stop extraction performance

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Schedule extraction

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Bus stop arrival times

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Bus stop arrival times

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Bus stop arrival times

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Bus stop arrival times

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Bus stop arrival times

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Bus stop arrival times

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First stop schedule

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Travel time variance

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Last stop arrival times

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Compute mean travel times

1 X t
aj
travel time(1, j, t) =
|D|
D

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t
a1

Compute downstream
schedules

j
kt

1
kt

+ travel time(1, j, t)

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Last stop arrival times

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Last stop schedule

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Schedule accuracy

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Schedule accuracy

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System architecture

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Online processing

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Online processing

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Un-classified buses

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Classified buses

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Hidden Markov model

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Classification accuracy
1.0
0.8
0.6
0.4
0.2
0

Correct

Incorrect

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Unclassified

Classification delay

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Classification delay

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Arrival time prediction

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Predicting arrival times

time until arrival(si ) = travel time(sprev+1 , si )+

(1

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)travel time(sprev , si )

Arrival time predictions

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Schedule vs. real-time

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Schedule vs. real-time

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Schedule vs. real-time

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System overview
S
P
G

GP

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Come and see our demo!

Thursday, 3:30p-7:30p
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Thanks!
Questions?