COMSNETS 2016: Intelligent Transportation Systems Workshop

Bus Boarding Event Detection using Smartphone

Sensors
Shubham Chaudhary∗ , Tanjot Kaur∗ , Naveen Aggarwal∗ , Bhaskaran Raman† , Diyva Bansal‡ and K. K. Ramakrishnan§
∗
UIET, Panjab University, Chandigarh
Email: me@shubhamchaudhary.in, tanjot28@gmail.com, navagg@gmail.com
† IIT, Bombay

Email: br@cse.iitb.ac.in
‡ PEC University of Technology, Chandigarh

Email: diyva@pec.ac.in
§ University of California, Riverside

Email: kk@cs.ucr.edu

Abstract—Rapid growth in smartphones industries has made
smartphones omnipresent. The incorporation of a number of
powerful sensors in the smartphones lately have enhanced their
applicability besides their customary use for communications.
Sensors in smartphones can be used to detect users activities
and localization. But use of all sensors put a lot of burden on
smartphone battery. Battery drainage is a big problem and most
commuters do not prefer to use power hungry sensors such
as GPS. In this paper, we explored the possibility to use the
low power smartphone sensors to detect the initial movement of
users such as bus boarding movement which can act as a trigger
to collect data from other sensors. The proposed approach is
implemented as an android app and consists of two modules.
First module is based on accelerometer sensors to detect initial
staircase pattern movement of user and triggers the second
module. Second module detects linear acceleration of user in
one direction and movement of bus using accelerometer and
GSM sensors.Various experiments are conducted to find the
appropriate features to characterize the bus boarding event.
Based on these features a scaled training model is generated.
This model is deployed along with the Android application to
perform event detection on the smartphone itself. We conducted
experiments using five different phones and found promising
results of detecting the event.
I. I NTRODUCTION
With a rapid growth in the number of smartphone users,
using different sensors present in the phone has recently
emerged as a promising approach to recognize activities of
the users. Because of the small size of these “smart” mobile
devices, their substantial computing power, their ability to
send and receive data, and their nearly ubiquitous use in
our society, they open exciting gates for real time traffic
monitoring. Several methods have been proposed that use
sensors in smartphones for activity detection in various envi-
ronments (Indoor localization, traffic detection and detecting
activity of a person). The smartphone based traffic estimation
methods eliminate the need for costly, specialized hardware
installed in vehicles or on the road side. These crowdsourced
solutions (using distributed participatory data collection) have
the advantage of high scalability as the number of smart phone
users is growing at a rapid pace. All crowdsourcing applica-
tions rely heavily on determining the location of user using
different sensors such as GPS, GSM, Wi-Fi etc. However,
using these sensors put a lot of burden on smartphone battery.
Smartphone battery drains very quickly when these sensors are
used continuously, which is a strong deterrent for commuters
to use crowdsourcing based applications.
In this paper, we proposed an approach to detect user
activity such as bus boarding activity to act as trigger for
data collection in various crowdsourcing based applications
deployed on smartphones. To eliminate the need of subscriber
manually inputting boarding of bus, the process of triggering
the application [1] when subscriber boards the bus must be
automated. The bus boarding event bears heavy resemblance
to stair climbing activity [2], [3]. So for early detection of bus
boarding movements of user, smartphone’s accelerometer sen-
sor is used in the first phase of our detection process. Although,
observing a particular motion does not always guarantee an
ascent on stairs. Some events with similar movements such
as running, jumping, etc may be misclassified as climbing up
stairs. Further, pattern of boarding bus is different for different
users. Best case is when person climbs a whole flight of
stairs at the bus entrance and moves ahead in the bus aisle. A
problem arises when:
• A person jumps and gets on board (may take just one
step missing all other steps to get on bus)
• A person does not climb all stairs, just stands on first or
second stair through the route
• If people do not use a queue and there is a chaos, in such
a case climbing is not according to default behavior
Effect of all the above problems becomes a hindrance in
giving discrete results Further, in low floor buses having a
single step, in significant number of cases it may not be
possible to detect the stair climbing pattern. Location of user
is also very significant as user is not restricted to climb stairs
only on a bus. Climbing can also be related to a raised
platform other than stairs. Hence it is clear that detecting stair

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 COMSNETS 2016: Intelligent Transportation Systems Workshop
case climbing pattern is not sufficient to detect bus boarding
movement.
So after detecting the initial movement of user, we have
proposed a combination of accelerometer and GSM sensor to
detect the location of user and movement of bus. There are
several ways of doing that including use of sensors such as
Wi-fi, GPS etc, but use of low power consuming sensors is
preferred to accomplish this task. Average power consumption
of accelerometer at a sampling rate of 4 Hz is about 195
mW which is very less as compared to GPS, which consumes
623 mW approx in outdoor conditions [4]. To collect data
and validate the proposed approach, an open-source Android
application is developed which acts as a trigger for the crowd-
sourcing application. Android is a good mobile OS choice
because it is widely available and all the machine learning al-
gorithms required are available as stable open-source-libraries
(such as libsvm). The source code for this application is also
available online on Github[5].Main contributions of paper are:
• An approach for early detection of bus boarding move-
ment of a person using accelerometer and GSM sensor
which achieves an accuracy of more than 90% in different
experimental conditions.
• Feature set analysis of accelerometer data using SVM
classification.
• Validation of proposed approach and analysis of clas-
sification techniques on different smartphones using an
android app.
Rest of the paper is organized as follows. Section 2 repre-
sents the related work in this field. Section 3 briefly discusses
about the background on data collection using accelerometer
based detection. Section 4 presents the proposed approach
in detail. Section 5 explains the data collection strategy and
results are discussed in detail in Section 6. Finally Section 7
concludes the paper.
II. R ELATED W ORK
A lot of past work has been done related to the activity
recognition tasks for classifying various activities including
upstairs and downstairs. But most of them uses specialized
devices or accelerometers at various body positions rather than
mass marketed devices like smartphones containing sensors
like accelerometer all at a single place. Bao & Intille [2] col-
lected data from 20 users by using five different accelerometers
attached to different body parts. It was clearly evident from
their results that the accelerometer positioned around thighs
gives the best accuracy. This is very similar to smartphones
which are also placed in pockets.
A few studies that have involved commercial devices such
as smart phones. Among these, the work of Kwapisz et al.
[3] appears more relevant to our problem. They demonstrated
that it is possible to perform activity recognition with nearly
ubiquitous equipment and yet achieve highly accurate results.
They collected raw time series data of 29 users performing
various activities for specific period. Data is collected using
an application that record different user attributes with the
label of the activity being performed. After the formation of
2
the data set, three classification techniques from the WEKA
data mining suite were used to induce models for predicting
the user activities: decision trees (J48), logistic regression and
multilayer neural networks. Their work has shown significant
accuracy of about 90% in detecting different human activities.
Similar to this work, Anguita et al. [6] used SVM to improve
the accuracy of human activity recognition. Lee et al.[7] uses
two step hidden markov model to recognize the limited set
of activity. They proved that ‘boarding a bus’ activity has
very difficult pattern for classification and their approach
gives very low accuracy in this case. Wu et al. [8] used the
gyroscope along with accelerometer to improve the accuracy
of human activity recognition. They performed multiple sets
of experiments with different window sizes and different
features in time and frequency domain. They used different
linear, non-linear and meta classifiers. Their study concluded
that linear classifiers are sufficient and efficient in time as
compared to other classifiers. Machado et al. [9] proposed
a learning model that can easily be used on-board for real
time classification. Siirtola et al. [10] designed an application
for real time recognition using smartphones. They concluded
that only orientation insensitive activities can be recognized
with good accuracies due to movement of smartphones during
activity. Bus boarding event detection is different from normal
human activity detection problem due to sequence of different
small duration activities. We believe that there is no significant
work done in literature for bus boarding event detection using
smartphone sensors.
III. BACKGROUND
Most new smartphones contain tri-axial accelerometers. The
accelerometer measures the acceleration of the device on the
x (lateral), y (longitudinal), and z (vertical-pointing out of the
phone) axes. Accelerometers can be used to detect movement
and the rate of change of the speed of movement. These
accelerometers are also capable of detecting the orientation of
the device which can provide useful information for activity
recognition. The data received from the accelerometer is in
the form of a three-valued vector of floating point numbers
that represented the individual accelerations of the smartphone
device in the X, Y, and Z axes subtracted by the gravity vector
g. The acceleration values are recorded in meters per second
squared (m/s2 ). Thus, laid flat on a level surface, the expected
reading of the accelerometer would be approximately [0, 0,
-9.81].
The coordinate-system is defined relative to the screen of
the phone in its default orientation as shown in Figure 1. The
axes are not swapped when the device’s screen orientation
changes.
• The X axis is horizontal (along the width of the phone)
pointing towards the right,
• The Y axis is vertical pointing towards top of the phone
• The Z axis pointing out of the front face of the screen.
Android provides libraries to separate gravitational com-
ponent from acceleration. But, raw acceleration is used in
our experiments because the gravitational component helps in
 COMSNETS 2016: Intelligent Transportation Systems Workshop
Fig. 1: Orientation of accelerometer axes in Android
reorientation when generalizing the assumption regarding the
fixed phone orientation.
Acceleration frequencies vary depending on the quality of
accelerometer in the device. But in general approximate
frequency[11] can be guessed by four accelerometer modes
provided by Android API
1) Fastest (∼ 40Hz)
2) Game (∼ 20Hz)
3) UI (∼ 10Hz)
4) Normal (∼ 4Hz)
Duration of the bus boarding event is very small so, the dura-
tion window cannot be too small. However, if the window is
too large, that will increase the CPU usage in data processing.
20Hz turns out to be an optimal frequency for this task. Hence,
in the android application[5] game mode is used which records
around 20 data points per second.
In order to develop a trigger mechanism, pattern recognition
is done on accelerometer readings assuming fixed orientation
of the phone. This assumption can then be easily relaxed using
reorientation techniques [12] which gives readings along fixed
X, Y, Z axis. However, reorientation techniques best works
when phone is stationary. Reorientation techniques uses value
of g along phone’s axis by using accelerometer readings and
then finds rotation angle based on that.
IV. P ROPOSED A PPROACH
Bus boarding event has characteristics similar to stair climb-
ing activity but with possibilities of many false cases. Initially,
the problem of detection of boarding the bus is considered
similar to the activity of climbing the stairs. But complete
pattern recognition can not rely on just one technique. Simple
stair case detection gives false results and is not sufficient
alone. So overall event is considered as two consecutive
sequences of activity. In first sequence, user makes initial
movement similar to stair climbing pattern and in consecutive
sequence, user moves in bus to find seat and bus starts moving
at a speed more than walking speed of humans. To detect both
sequences, following two stand-alone modules are developed:
1) Acceleration module: This module captures accelerom-
eter data to detect initial movement of user and if there
3
is a movement similar to staircase pattern it triggers the
second module.
2) GSM module: This module is used to further strengthen
the recognition accuracy.
A. Acceleration Module
We have used a binary classifier to classify the movements
of users, where resulting values close to 1 predict staircase
pattern while values close to 2 show occurrence of other activ-
ities. This module takes 20 samples per second and buffer the
data for 10 seconds to detect the event. There are two options
to implement this module either to train the system on client
side or deploy a preprocessed training model. It is a difficult
task to make the system learn about the staircase pattern on
client side. That will involve a lot of user intervention. So
a training model is created and deployed with the Android
application. Training set includes two types of data sets which
is collected from various devices for different activities and
then labeled. First set contains actual bus boarding event and
staircase climbing data (labeled as 1). The second set includes
all other remaining activities (labeled as 2). Various features
are extracted from raw acceleration data and a training model
is created for classification. We analyzed various classification
techniques on different feature sets and found Support vector
machines gives best results. Detail of these results is presented
in Section VI. The flow of acceleration module is depicted in
Figure 2
Fig. 2: Flow for acceleration module
SVM implementation is provided by the libsvm java pack-
age — tw.edu.ntu.csie:libsvm:3.17. The training model de-
ployed with the app is used to train an SVM. Stair pattern
predictions are made using this trained machine. Instead of
retraining the machine for every execution, the trained machine
is stored locally on the mobile device to fasten the prediction
time.
B. GSM Module
It has two sub modules. First is to look for continuous
acceleration vector in one direction for a long period and
 COMSNETS 2016: Intelligent Transportation Systems Workshop
second is to start polling for location changes using low power
GSM data for speed estimation.
Algorithm 1 explains the detailed flow of the approach.
This algorithm is implemented in Android app. Initially,
acceleration module is started and if it detects stair climbing
pattern continuously together i.e. approximately 7 out of
10 windows then the bus boarding event is assumed to be
detected. Otherwise, acceleration module starts polling for
continuous acceleration vector detection and gsm module for
speed detection. Acceleration module is polled at 10 seconds
intervals now and GSM module at 1 minute intervals. If either
of them gives positive result, the event is detected, else initial
pattern recognition is deemed as false and restarted.
Algorithm 1 Bus Boarding Event Detection algorithm
1: procedure D ETECT B US B OARDING E VENT
2: while DetectionModeOnInApp do
3: acc data ← Read Acceleration Data
4: window count ← acc data.StairPatterns()
5: if window count > 0.7 ∗ T otalW indows then
6: return EventDetected
7: else
8: if acc data.hasConstantAcceleration() then
9: return EventDetected
10: end if
11: gsm data ← Read GSM Data
12: if gsm data.hasSpeed() then
13: return EventDetected
14: end if
15: end if
16: end while
17: end procedure
V. DATA C OLLECTION AND P ROCESSING
Data on which all the classifiers and features are tested have
been collected by different people in varying conditions (fast,
slow, indoors, outdoors, straight stairs, round stairs, etc). A
variety of activities like walking, running, jumping, jogging,
sitting, standing, ascending and descending stairs were per-
formed to create the dataset. Also, to check consistency of
our results, same activity is performed on different phones
and compared. Initial data collected is raw acceleration along
three axis from accelerometer sensors using an Android app
at a constant rate of 20Hz. A large training set is prepared by
collecting data using multiple volunteers for various activities
with many repetitions. We have also used another data set
provided by UCI [13]. This data set also contain same set
of human activities recorded at same sampling rate. Multiple
experiments are conducted using both data sets by dividing
randomly into training and test sets. Data generated by tri-axial
sensors contains gravitational component and body motion
components. It is assumed that gravitational component would
not change as frequently as other components. Hence, to detect
the gravitational component from other components, a simple
Butterworth low-pass filter is used. The data-set is divided into
4
several windows of duration one second which corresponds to
approximately 20 data point at accelerometer’s game mode
frequency[11]. Different time and frequency domain features
are calculated for each window.
Various features are tried one by one and together in groups
to figure out which features gave best accuracy values for
this problem. Due to the fixed orientation assumption, body
movement components are observed along y and z axis.
To figure out the stair climbing event, the features need to
incorporate two aspects —
1) the magnitude of acceleration which may vary depend-
ing on user speed etc.
2) the unique pattern observed in y & z (fixed orientation
assumption, Figure 1) which uniquely identifies the stair
climbing pattern from other activities.
For magnitude, we calculated features in time domain
such as mean, standard deviation, median, difference between
consecutive acceleration values etc.
For the unique stair climbing pattern, the distance between
consecutive crests and troughs of y & z can be used. To
identify crest and trough the max and min values in a window
cannot be used directly. To circumvent this frequency domain
features are used — DC component and energy. Energy is
calculated by squaring the values resulting from applying FFT
and averaging. The first value i.e. DC Component has been
excluded from average calculation.
2
E = avg((F F T (acc)) )
In the Android application, finally, four features are used —
two in time domain (mean and standard deviation) and two in
frequency domain (DC component and energy).
VI. R ESULTS
For analysis of performance of the proposed approach,
android app is installed on five different phones: Nexus 4,
Lenovo S650, Moto G2, Karbon A10, HTC Wildfire S. Data
is collected separately from both modules viz: acceleration
module and GSM module. This helps in better analysis of
data. These results are discussed in following subsections:
• Analysis of different classification techniques
• Feature set analysis using SVM classification
• Classification Results of Bus Boarding event detection
• Accuracy on different phones
A. Analysis of different classification techniques
Our first analysis was to check the accuracy of different clas-
sifier for staircase prediction using accelerometer data. In bus
boarding event, duration of staircase pattern is very small. So
we trained the classifier using the UCI HAR data set [13]. In
this data set, we labeled the staircase climbing activity as class
1 and all other activities as class 2. Different classifiers such
as Support vector machine (SVM), Decision tree classifier
and regressor, Naive Bayes (Gaussian, Bernoulli), Stochastic
gradient descent and Nearest neighbor are trained on this data
set. After training, these classifiers are deployed in our android
app and volunteers tested these to detect the bus boarding
 COMSNETS 2016: Intelligent Transportation Systems Workshop

TABLE I: Results with different time and frequency domain feature sets
event. Due to separate training and test data sets, all classifier
performed poorly. It is observed that the SVMs give reasonably SNo. Feature set used Accuracy
better accuracy as compared to other classifiers as shown
1 Entropy, Mean, Standard 37.4%
in Figure 3. Moreover, SVMs are fast, which is necessary
Deviation
to save smartphone’s CPU cycle and hence keep the battery
consumption low [14]. SVMs are also fairly less complex and 2 Difference between 60.7%
easy to implement on multiple platforms. Experimental results max (and min) y and
show that SVMs achieve significantly higher search accuracy z acceleration in a window
than traditional query refinement schemes after just three to
3 Mean, Standard Deviation, 87%
four rounds of relevance feedback.
DC Component
4 Mean and Standard devia- 88.3%
tion of y and z
5 Mean and Standard Devia- 89.2%
tion along all axis
6 Mean and Standard Devi- 90.1%
ation, DC Component and
Energy

TABLE II: Accuracy in different cases

Cases Accuracy using Accuracy using

Fig. 3: Different Classifiers with UCI HAR Dataset single accelera- both modules
tion module
Single phone for 67.4% 89.2%
B. Feature set analysis using SVM classification training and test-
To find the minimal set of features which gives reasonable ing
accuracy, different permutations of time and frequency domain
Different phones 58.7% 78.1%
features are tested using SVM Classifier. Raw accelerometer
for training and
data along all three axis is divided into fixed size windows of
testing
10s and with 20 Hz sampling frequency. In each window, time
domain features such as mean, standard deviation, entropy,
difference between maximum and minimum values are calcu-
lated along all axis. Similarly in each window, after necessary
padding, frequency domain features such as DC Component respectively. In plot 1 the expert data used to train the machine
and Energy are calculated. Results of accuracy obtained using is marked along vertical lines (at the end of each window). In
different permutations of these features are shown in Table I. plot 2 values along vertical line shows machine predictions. In
In these results, training and test data is collected by same user both plots, value 1 and 2 corresponds to event detected or not
using single phone and both acceleration and GSM modules detected in the window. According to the algorithm 1, multiple
are used. ones in succession means event is detected.
It is observed that increase in number of features is not at
all related to the accuracy of predictions involved. Addition of
one unrelated feature decreases the overall accuracy drastically
(e.g. entropy). The best accuracy is observed when mean,
standard deviation along all axis, dc component and energy
are used in a feature set. But a minimal feature set of mean
and standard deviation along all axis also gives reasonable
good accuracy.

C. Classification Results of Bus Boarding event detection

Based on the analysis of previous sub sections, we used only Fig. 4: Acceleration vs. Time Graph showing classification made by SVM
mean and standard deviation in the feature set and SVM as
classifier in acceleration module. The graph in Figure 4 shows We analyzed the accuracy in different cases as shown in
two acceleration v/s time plots for training and testing data Table II.

5
 COMSNETS 2016: Intelligent Transportation Systems Workshop
It is observed that best accuracy is obtained when training
and test data is collected on single phone by same user.
Further, there is considerable increase in accuracy when both
modules are used in sequence.
D. Accuracy on different phones
Results obtained when similar experiments were conducted
with different phones are shown in Figure 5. The accuracy
value on different phones varied from 61%-84%. There are
several reasons to explain this variation in accuracy, first being
the difference in expert data marked for activities recorded.
The data classified using SVM is tested for correctness with
the data marked manually as staircase event or not. Hence,
accuracy is higher if expert data markings resemble the actual
activity along time. Another reason which leads to variation
in accuracy is that different people perform similar tasks
in different ways. Also, some phones show lower accuracy
because their accelerometer has limited range.
Fig. 5: Accuracy for staircase data on different phones
VII. C ONCLUSION AND F UTURE W ORK
In this paper, we have proposed an approach to detect the
bus boarding event using the smartphone sensors: accelerome-
ter and GSM. Detecting the bus boarding event of commuters
help us to trigger the data collection from other power hungry
sensors such as GPS.The information about the boarding
event of commuters can also give us real time information
about the commuters using the public transportation systems
and the occupancy level of the bus. This helps us to save
considerable battery of smartphones. We developed an android
app consisting of two modules used in sequence to detect the
sequence of activities performed by commuters boarding the
bus. First module detects the staircase climbing pattern using
accelerometer and triggers second module. Second module
then detects linear acceleration of commuters in one direction
and movement of bus. Even though commuters who are
carrying the smartphone could keep it anywhere according
to their comfort, but for initial data collection, we assumed
the fixed orientation of phone. Event recognition tasks are
performed with data collected from the different activities
performed by multiple users. This is different from the actual
scenario where the problem is more generic and not specific to
an individual. There are variations in the acceleration values
from one user to the other. Larger data sets collected from the
activities performed by more number of users are expected
to solve this problem. Nevertheless, the initial observations
helped us to recognize the features that perform well upon the
model as well as showed the variations in the acceleration
values while performing the activities. We tested different
classifier in acceleration module to detect staircase pattern
and found Support vector machines gives good accuracy. In
our future work, we will try to strengthen this approach by
adapting from user’s past behavior.
VIII. ACKNOWLEDGEMENT
Work, presented in this paper, is a part of the project CARTS
(Communication Assisted Road Transportation Systems) un-
der ITRA. We thank ITRA Media Lab Asia for sponsoring
this work.
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