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For a group of pedestrians without any spatial boundaries, the methods ofdensity estimation is a wide area of research. Besides, there is a specificdifficulty when the density along one given pedestrian trajectory is needed inorder to plot an `individual-based' fundamental diagram. We illustrate whyseveral methods become ill-defined in this case. We then turn to the widelyused Voronoi-cell based density estimate. We show that for a typical situationof crossing flows of pedestrians, Voronoi method has to be adapted to the smallsample size. We conclude with general remarks about the meaning of densitymeasurements in such context.

Methods of density estimation for pedestrians moving in small groups without a spatial boundary