Density Based Smart Traffic Control System Using Canny Edge Detection

11 IV April 2023
https://doi.org/10.22214/ijraset.2023.50271
International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 11 Issue IV Apr 2023- Available at www.ijraset.com
Density Based Smart Traffic Control System Using

Canny Edge Detection
D Thirupathi1, Dasari Siddartha Reddy2, Koppula Snehith3, Nuthanakanti Bhaskar4
1, 2, 3
B.Tech Scholar, Department of CSE, CMR Technical Campus, Hyderabad, India
4
Assistant Professor, Department of CSE, CMR Technical Campus, Hyderabad, India
Abstract: As the problem of traffic congestion intensifies, there is a pressing need for the introduction of advanced technology
and equipment to improve state-of-the-art of traffic control. The current methods used such as timers or human control are
proven to be inferior to alleviate this crisis. In this paper, a system to control the traffic by measuring the real-time vehicle
density using canny edge detection with digital image processing is proposed. This imposing traffic control system offers
significant improvement in response time, vehicle management, automation, reliability and overall efficiency over the existing
systems. The ambulances are detected using YOLO where the minimal waiting time is allotted to the lane. Besides that, the
complete technique from image acquisition to edge detection and finally green signal allotment.
Keywords: Traffic Control, Canny Edge Detection, YOLO
I. INTRODUCTION
The major cause leading to traffic jam is the high no of vehicles which was caused by the population and the development of
economy Recently a look at of global wide financial institutions has said that the car's common velocity has reduced from
21km to 7km in line with hour with inside the remaining 10years [1]. As more and more vehicles are commissioning in an already
congested traffic system, there is an urgent need for a whole new traffic control system using advanced technologies to utilize the
already existent infrastructures to its full extent. Since building new roads, flyovers, elevated expressway etc. needs extensive
planning, huge capital and lots of time; focus should be directed upon availing existing infrastructures more efficiently and
diligently. The traffic lights that are in widespread use today do not do much complex reasoning when deciding when to change the
lights for the various road users waiting in different lanes. How long the signal stays green in one lane and red in another is most
often determined by simple timing that is calculated when the crossing is designed. Even though today’s methods are robust and
work well when the traffic load is distributed evenly across the lanes in the intersection, the systems are very inefficient because
they are unable to handle various simple situations that arise throughout the day. Unnecessary waiting time in the signal can be
avoided by determining in which side the green signal should be large during traffic. Many methods had been followed over the
years such as Manual controlling, as the name says it require man power to control the traffic. Depending on the countries and states
the traffic polices are allotted for a required area or city to control traffic. The traffic polices will carry sign board, sign light,
particular uniform and whistle to control the traffic. Automatic traffic light is controlled by timers and electrical sensors. In traffic
light each phase a constant numerical value loaded in the timer. The lights are automatically getting ON and OFF depending on the
timer value changes. While using electrical sensors it will capture the availability of the vehicle and signals on each phase,
depending on the signal the lights automatically switch ON and OFF. the traffic light by image processing. The vehicles are detected
by the system through images rather than electronic sensors. A camera will be placed alongside the traffic light. It will capture
images in sequence [2].
II. LITERATURE SURVEY

A Anjani research on the smart traffic control system availing image processing and using canny edge detection as an instrument for
measuring the density of the traffic. the image of CCTV is taken and processed through the canny edge detection and counting the
white pixels and calculating the green time using matching probability with reference image [1].
Taqi Tahmid proposes a traffic control system have been presented For this purpose, four sample images of different traffic
scenario. Upon completion of edge detection, the similarity between sample images with the reference image has been calculated.
Using this similarity, time allocation has been carried out for each individual image in accordance with the time allocation algorithm
[3].
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S. Lee's research on the system uses a camera-based density measurement method to estimate traffic flow and detect traffic
congestion. The density measurement method uses the number of vehicles passing through a certain area over a period of time to
estimate traffic flow. The system also uses Canny edge detection to detect the presence of vehicles at intersections and estimate their
speed and direction of movement [4].
P. Ramya research on The system consists of three main modules: image processing, fuzzy logic control, and signal control. The
image processing module uses Canny edge detection to detect the edges of vehicles in real-time video footage captured by cameras
installed at intersections. The fuzzy logic control module then uses the edge density information to determine the appropriate signal
timings based on the traffic volume and congestion level [5].
H. Jahanbakhsh research on The Canny edge detection algorithm is used to extract the edges of vehicles in the video input, which
are then passed to an ANN to estimate the number of vehicles in each lane and their speeds. This information is then used to
dynamically adjust the signal timings to optimize traffic flow [6].
V. Rajkumar proposes a smart traffic control system that uses Canny edge detection and image processing techniques to detect and
classify vehicles, estimate traffic flow, and optimize traffic signal timings. The system is designed to improve traffic flow and
reduce congestion on urban roads. The proposed system includes a camera-based vehicle detection module that uses Canny edge
detection and morphological operations to extract vehicle features and classify them using machine learning algorithms [7].
III. PROPOSED METHODOLOGY

As per the previous researches mentioned in the literature survey there are few drawbacks in the projects:
1) Calculating the number of vehicles may give false results if the intravehicular spacing is very small.
2) The most efficient way is canny edge detection technique but the major drawback of previous projects is, an emergency vehicle
such as an ambulance is treated as any other vehicle.
So, we propose this project to counter the drawbacks of the previous projects, a system that first undergoes image detection process
detecting the vehicles such as cars, Buses, Ambulances and allocate separate time when an emergency vehicle detected like
ambulances irrespective of the density of traffic is measured by comparing captured image with real time traffic information against
the image of the empty road as reference image.
Figure 1 Block Diagram of the proposed methodology
Here, in figure 1, the block diagram for proposed traffic control technique is illustrated Each lane will have a minimum amount of
green signal duration allocated. According to the percentage of matching allocated traffic light duration can be controlled. The
matching is achieved by comparing the number of white points between two images. Before that the image is detected using YOLO
technique. The entire image processing before edge detection i.e., image acquisition, RGB to gray conversion, Image Enhancement
and canny edge detection operation and white point count are depicted. Canny edge detector operator is selected because of its
greater overall performance. Percentage matching for different sample images and traffic time allocation.
A. You Only Look Once (YOLO) Image Detection

YOLO algorithm works using the following three techniques Residual blocks, Bounding box regression, Intersection Over Union
(IOU). First, the image is divided into grid cells. Each grid cell forecasts B bounding boxes and provides their confidence scores.
The cells predict the class probabilities to establish the class of each object. For example, we can notice at least three classes of
objects: a car, a dog, and a bicycle. All the predictions are made simultaneously using a single convolutional neural network.
Intersection over union ensures that the predicted bounding boxes are equal to the real boxes of the objects. This phenomenon
eliminates unnecessary bounding boxes that do not meet the characteristics of the objects (like height and width). The final detection
will consist of unique bounding boxes that fit the objects perfectly. For example, the car is surrounded by the pink bounding box
while the bicycle is surrounded by the yellow bounding box. The dog has been highlighted using the blue bounding box.
Figure 2 YOLO Detection
B. Image pre-processing Canny Edge Detection

Gray scaling the input image is typically done as a pre-processing step before applying the Canny edge detection algorithm. This is
because the Canny algorithm works on grayscale images, which are 2D arrays of intensity values ranging from 0 (black) to 255
(white) for each pixel in the image.
The Canny edge detection technique is an image processing algorithm used to detect edges in digital images. The Canny edge
detection algorithm involves the following steps:
1) Gaussian Blur: The image is first blurred using a Gaussian filter to reduce noise and remove small details.
2) Gradient Calculation: The gradient magnitude and direction are calculated using Sobel, Scharr or Prewitt operators.
3) Non-maximum Suppression: The gradient magnitude is then thinned to a single pixel wide edge by suppressing non-maximum
values in the gradient direction.
4) Double Thresholding: Two thresholds, a low and high threshold, are used to determine which edges are strong and which are
weak. Pixels with gradient magnitudes above the high threshold are considered strong edges, while those between the low and
high threshold are considered weak edges.
5) Edge Tracking by Hysteresis: Weak edges are only considered part of an edge if they are connected to a strong edge. This is
done by tracing the edge in both directions from the strong edge.
The output of the Canny edge detection algorithm is a binary image where the edges are represented by white pixels and the rest of
the image is black.
Figure 3 Canny edge detection
IV. IMPLEMENTATION
The block diagram of the project was discussed in previous chapter. The algorithm behind the block diagram consists of following
steps.
1) Step1) In this Step we will import dataset

The free dataset of traffic images at regular interval of time should be uploaded from the traffic signal and the reference image is
upload with a heavy traffic at that specific location for the comparison
2) Step2) Detect Image (As an extension)

The input image that is uploaded undergoes preprocess it by resizing it to the input size required and normalizing the pixel values of
image.
a) The YOLO algorithm is applied to the pre-processed image into a grid of cells.
b) The bounding boxes and class probabilities are predicted.
c) YOLO outputs the coordinates of the bounding boxes for each detected object, along with a confidence score indicating the
likelihood that the object is present. For vehicle detection, we can filter the bounding boxes to only select those that correspond
to vehicles which are Cars, Buses, Ambulances.
d) YOLO can detect multiple bounding boxes for a single vehicle, non-maximum suppression is performed to eliminate duplicate
detections. This involves comparing the confidence scores of overlapping bounding boxes and selecting the one with the
highest score.
e) The final step is to output the image with the selected bounding boxes drawn around the detected vehicles.
3) Step3) Image Pre-processing

 The image undergoes through gray scaling
Gray = 0.2989 * r + 0.5870 * g + 0.1140 * b
 The uploaded image goes through canny edge detection
 The image is smoothed using a Gaussian filter to reduce noise and eliminate small variations in intensity
K(x,y) = (1 / (2 * pi * sigma^2)) * exp(-(x^2 + y^2) / (2 * sigma^2))
 The gradient magnitude and direction of each pixel are computed by calculating the partial derivatives of the image in the x and
y directions using filters. This step helps identify areas with a high rate of change in intensity, which correspond to edges of the
image.
 A high and low threshold value are set so that Pixels with gradient magnitudes above the high threshold are marked as strong
edges, while pixels with gradient magnitudes below the low threshold are discarded as non-edges. Pixels with gradient
magnitudes between the low and high thresholds are marked as weak edges, which are retained only if they are connected to
strong edges. This step helps distinguish between noise and actual edges.
4) Step4) White Pixel Count

Since reference image is basically an image of the heavy traffic road, the more the similarity between sample image and reference
image, the more vehicles are present on the road. As irrelevant edges detected in sample images such as edges of footpaths, islands
etc. are also existent in reference image, their effects are nullified when comparing them with reference image. The percentage of
matching is calculated using the following formula,
avg = (sample_pixels/refrence_pixels) *100
5) Step5) Calculate green Signal Time Allocation
Similarity in Percentage Allocated Green Signal Time

>=90% 60 seconds
85%-89% 50 seconds
75%-84% 40 seconds
50%-74% 30 seconds
<50% 20 seconds
Table 1 Time Allocated
As in Table 1, Time allocated to green signal is governed by the percentage of matching of consecutive lanes. The proposed time
allocation is based on assumption.
V. RESULTS AND DISCUSSION
Figure 4 importing dataset
As shown in Figure 4, We should upload the traffic image by clicking on the upload traffic image button. It uploads the image.
Figure 5 Detecting Image
As shown in Figure 5, by Clicking detect image the vehicles are detected by YOLO with image popped up.
Figure 6 canny edge detection
As shown in Figure 6, Then clicking on the Image preprocessing using canny edge detection Then the image will be preprocessed
and the image gets changed and we will get the canny edged image.
Figure 7 white pixel count
As shown in Figure 7, Clicking on the White pixel count to get the count of white pixels of sample and reference image to
comparison.
Figure 8 green time allocation
As shown in Figure 8, Click on the calculate green signal time allocation to get the time period which is displayed according to the
vehicle density count. According to the image that we have uploaded the time period is calculated with respective to white pixel
count.
Figure 9 Ambulance Detection
As shown in Figure 9, In case of the presence of an ambulance it is detected by the YOLO.
Figure 10 red signal time allocation to ambulance detection
As shown in Figure 10, If the ambulance is detected then irrespective of the white pixel count the waiting time for the ambulance
will be 10 sec
VI. CONCLUSION
In this paper, a smart traffic control system availing image processing as an instrument for measuring density has been proposed.
Besides explaining the limitations of the current near-obsolete traffic control system, the advantages of the proposed traffic control
system have been done. For this purpose, four sample images of different traffic scenarios have been attained. Upon completion of
edge detection, the similarity between the sample images with the reference image has been calculated. The ambulance when
detected gives less waiting time. Using this similarity, time allocation has been carried out for each individual image in accordance
with the time allocation algorithm. In addition, similarity in percentage and time allocation has been illustrated for each of the four
sample images using Python programming language.
VII. ACKNOWLEDGEMENT
We thank CMR Technical Campus for supporting this paper titled “Density Based Smart Traffic Control System Using Canny Edge
Detection”, which provided good facilities and support to accomplish our work. Sincerely thank our Chairman, Director, Deans,
Head of the Department, Department of Computer Science and Engineering, Guide and Teaching and Non- Teaching faculty
members for giving valuable suggestions and guidance in every aspect of our work
REFERENCES
[1] A Anjani, "Density Based Smart Traffic Control Using Canny Edge Detection Algorithm", JOURNAL OF ALGEBRAIC STATISTICS Volume 13, No. 3,
2022
[2] A.J. Shakadwipi, "Smart Traffic Control System by Using Image Processing", IOSR Journal of Computer Engineering Volume 22, Issue 6, 2020
[3] Taqi Tahmid, "Density Based Smart Traffic Control System Using Canny Edge Detection Algorithm for Congregating Traffic Information", EICT, 2017
[4] S. Lee, "Density Based Smart Traffic Control System Using Canny Edge Detection Algorithm", 2021
[5] P. Ramya, "Smart Traffic Control System Based on Canny Edge Detection and Fuzzy Logic",2017
[6] H. Jahanbakhsh, "Real-Time Traffic Control Using Canny Edge Detection and Artificial Neural Networks", 2017
[7] V. Rajkumar, "Smart Traffic Control System Based on Canny Edge Detection and Image Processing", 2019.

Density Based Smart Traffic Control System Using Canny Edge Detection

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Density Based Smart Traffic Control System Using Canny Edge Detection

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11 IV April 2023

Density Based Smart Traffic Control System Using

II. LITERATURE SURVEY

III. PROPOSED METHODOLOGY

Figure 1 Block Diagram of the proposed methodology

A. You Only Look Once (YOLO) Image Detection

Figure 2 YOLO Detection

B. Image pre-processing Canny Edge Detection

Figure 3 Canny edge detection

1) Step1) In this Step we will import dataset

2) Step2) Detect Image (As an extension)

3) Step3) Image Pre-processing

4) Step4) White Pixel Count

5) Step5) Calculate green Signal Time Allocation

Similarity in Percentage Allocated Green Signal Time

Table 1 Time Allocated

V. RESULTS AND DISCUSSION

Figure 4 importing dataset

Figure 5 Detecting Image

Figure 6 canny edge detection

Figure 7 white pixel count

Figure 8 green time allocation

Figure 9 Ambulance Detection

As shown in Figure 9, In case of the presence of an ambulance it is detected by the YOLO.

Figure 10 red signal time allocation to ambulance detection

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