arXiv subjects

Zhaocheng He

Publications and source records attributed to Zhaocheng He.

8 recordsLinked to original sources

arXiv2026

RECO: Region-Aware Compensation for Extrinsic Perturbations in Roadside 3D Detection

In intelligent transportation systems, roadside 3D object detection provides wide-area perception crucial for traffic understanding, cooperative early warning, and safe autonomous driving. However, existing methods suffer from high sensitivity to camera extrinsics; even slight deviations (whether manifesting as transient jitter or persistent drift) can be significantly amplified by projective geometry. This cascade results in severe feature misalignment and degraded localization. To mitigate this limitation, we propose RECO, a region-aware extrinsic compensation framework that corrects extrinsics using piecewise 6-DoF pose offsets. RECO predicts a learnable range boundary to partition the scene into near and far regions, estimating region-specific pose corrections. A differentiable sigmoid gate then smoothly blends the two compensated geometries to preserve continuous BEV sampling and facilitate stable optimization. To supervise the refinement of extrinsics, we introduce an auxiliary reprojection loss that compares 2D bounding boxes projected from 3D ground truth against 2D annotations, optimizing it jointly with the standard detection objective. Extensive experiments on the DAIR-V2X-I and Rope3D benchmarks under extrinsic perturbations demonstrate consistent improvements over state-of-the-art baselines across both yaw and $z$-axis deviations. RECO also generalizes from transient perturbations to persistent shifts, maintaining highly competitive performance under strict calibration uncertainty.

cs.CV↗

arXiv2026

FLUID: A Fine-Grained Lightweight Urban Signalized-Intersection Dataset of Dense Conflict Trajectories

The trajectory data of traffic participants (TPs) is a fundamental resource for evaluating traffic conditions and optimizing policies, especially at urban intersections. Although data acquisition using drones is efficient, existing datasets still have limitations in scene representativeness, information richness, and data fidelity. This study introduces FLUID, comprising a fine-grained trajectory dataset that captures dense conflicts at typical urban signalized intersections, and a lightweight, full-pipeline framework for drone-based trajectory processing. FLUID covers three distinct intersection types, with approximately 5 hours of recording time and featuring over 20,000 TPs across 8 categories. Notably, the dataset records an average of 2.8 vehicle conflicts per minute across all scenes, with roughly 15% of all recorded motor vehicles directly involved in these conflicts. FLUID provides comprehensive data, including trajectories, traffic signals, maps, and raw videos. Comparison with the DataFromSky platform and ground-truth measurements validates its high spatio-temporal accuracy. Through a detailed classification of motor vehicle conflicts and violations, FLUID reveals a diversity of interactive behaviors, demonstrating its value for human preference mining, traffic behavior modeling, and autonomous driving research.

cs.RO↗

arXiv2023

City-scale synthetic individual-level vehicle trip data

Trip data that records each vehicle's trip activity on the road network describes the operation of urban traffic from the individual perspective, and it is extremely valuable for transportation research. However, restricted by data privacy, the trip data of individual-level cannot be opened for all researchers, while the need for it is very urgent. In this paper, we produce a city-scale synthetic individual-level vehicle trip dataset by generating for each individual based on the historical trip data, where the availability and trip data privacy protection are balanced. Privacy protection inevitably affects the availability of data. Therefore, we have conducted numerous experiments to demonstrate the performance and reliability of the synthetic data in different dimensions and at different granularities to help users properly judge the tasks it can perform. The result shows that the synthetic data is consistent with the real data (i.e., historical data) on the aggregated level and reasonable from the individual perspective.

cs.CY↗

arXiv2022

Potential destination discovery for low predictability individuals based on knowledge graph

Travelers may travel to locations they have never visited, which we call potential destinations of them. Especially under a very limited observation, travelers tend to show random movement patterns and usually have a large number of potential destinations, which make them difficult to handle for mobility prediction (e.g., destination prediction). In this paper, we develop a new knowledge graph-based framework (PDPFKG) for potential destination discovery of low predictability travelers by considering trip association relationships between them. We first construct a trip knowledge graph (TKG) to model the trip scenario by entities (e.g., travelers, destinations and time information) and their relationships, in which we introduce the concept of private relationship for complexity reduction. Then a modified knowledge graph embedding algorithm is implemented to optimize the overall graph representation. Based on the trip knowledge graph embedding model (TKGEM), the possible ranking of individuals' unobserved destinations to be chosen in the future can be obtained by calculating triples' distance. Empirically. PDPFKG is tested using an anonymous vehicular dataset from 138 intersections equipped with video-based vehicle detection systems in Xuancheng city, China. The results show that (i) the proposed method significantly outperforms baseline methods, and (ii) the results show strong consistency with traveler behavior in choosing potential destinations. Finally, we provide a comprehensive discussion of the innovative points of the methodology.

cs.AI↗

arXiv2022

Urban Vehicle Mobility Characteristic Mining and Trip Generation Based on Knowledge Graph

The operation of urban transportation produces massive traffic data, which contains abundant information and is of great significance for the study of intelligent transportation systems. In particular, with the improvement of perception technology, it has become possible to obtain trip data in individual-level of vehicles. It has finer granularity and greater research potential, but at the same time requires higher requirements in terms of data organization and analysis. More importantly it cannot be made public due to privacy issues. To handle individual-level urban vehicle trip big data better, we introduce the knowledge graph for the study. For organization of individual level trip data, we designed and constructed an individual-level trip knowledge graph which greatly improves the efficiency of obtaining data. Then we used the trip knowledge graph as the data engine and designed logical rules to mine the trip characteristics of vehicles by combining the transportation domain knowledge. Finally, we further propose an individual-level trip synthesis method based on knowledge graph generation to address the privacy issue of individual-level traffic data. The experiment shows that the final generated trip data are similar to the historical one in mobility patterns and vehicle associations, and have high spatial continuity.

cs.CY↗

arXiv2022

City-Scale Holographic Traffic Flow Data based on Vehicular Trajectory Resampling

Despite abundant accessible traffic data, researches on traffic flow estimation and optimization still face the dilemma of detailedness and integrity in the measurement. A dataset of city-scale vehicular continuous trajectories featuring the finest resolution and integrity, as known as the holographic traffic data, would be a breakthrough, for it could reproduce every detail of the traffic flow evolution and reveal the personal mobility pattern within the city. Due to the high coverage of Automatic Vehicle Identification (AVI) devices in Xuancheng city, we constructed one-month continuous trajectories of daily 80,000 vehicles in the city with accurate intersection passing time and no travel path estimation bias. With such holographic traffic data, it is possible to reproduce every detail of the traffic flow evolution. We presented a set of traffic flow data based on the holographic trajectories resampling, covering the whole 482 road segments in the city round the clock, including stationary average speed and flow data of 5-minute intervals and dynamic floating car data.

cs.CY↗

arXiv2020

Dynamic Spatial-Temporal Representation Learning for Traffic Flow Prediction

As a crucial component in intelligent transportation systems, traffic flow prediction has recently attracted widespread research interest in the field of artificial intelligence (AI) with the increasing availability of massive traffic mobility data. Its key challenge lies in how to integrate diverse factors (such as temporal rules and spatial dependencies) to infer the evolution trend of traffic flow. To address this problem, we propose a unified neural network called Attentive Traffic Flow Machine (ATFM), which can effectively learn the spatial-temporal feature representations of traffic flow with an attention mechanism. In particular, our ATFM is composed of two progressive Convolutional Long Short-Term Memory (ConvLSTM \cite{xingjian2015convolutional}) units connected with a convolutional layer. Specifically, the first ConvLSTM unit takes normal traffic flow features as input and generates a hidden state at each time-step, which is further fed into the connected convolutional layer for spatial attention map inference. The second ConvLSTM unit aims at learning the dynamic spatial-temporal representations from the attentionally weighted traffic flow features. Further, we develop two deep learning frameworks based on ATFM to predict citywide short-term/long-term traffic flow by adaptively incorporating the sequential and periodic data as well as other external influences. Extensive experiments on two standard benchmarks well demonstrate the superiority of the proposed method for traffic flow prediction. Moreover, to verify the generalization of our method, we also apply the customized framework to forecast the passenger pickup/dropoff demands in traffic prediction and show its superior performance. Our code and data are available at {\color{blue}\url{https://github.com/liulingbo918/ATFM}}.

cs.LG↗

arXiv2020

Routine pattern discovery and anomaly detection in individual travel behavior

Discovering patterns and detecting anomalies in individual travel behavior is a crucial problem in both research and practice. In this paper, we address this problem by building a probabilistic framework to model individual spatiotemporal travel behavior data (e.g., trip records and trajectory data). We develop a two-dimensional latent Dirichlet allocation (LDA) model to characterize the generative mechanism of spatiotemporal trip records of each traveler. This model introduces two separate factor matrices for the spatial dimension and the temporal dimension, respectively, and use a two-dimensional core structure at the individual level to effectively model the joint interactions and complex dependencies. This model can efficiently summarize travel behavior patterns on both spatial and temporal dimensions from very sparse trip sequences in an unsupervised way. In this way, complex travel behavior can be modeled as a mixture of representative and interpretable spatiotemporal patterns. By applying the trained model on future/unseen spatiotemporal records of a traveler, we can detect her behavior anomalies by scoring those observations using perplexity. We demonstrate the effectiveness of the proposed modeling framework on a real-world license plate recognition (LPR) data set. The results confirm the advantage of statistical learning methods in modeling sparse individual travel behavior data. This type of pattern discovery and anomaly detection applications can provide useful insights for traffic monitoring, law enforcement, and individual travel behavior profiling.

cs.SI↗