The main Overpass used is the one in the centre of the shopping centre where Secklow Gate goes over the building, on the Northern side of the Centre... I believe the Camera is facing South West... towards the Library/M&S End of town but I can't be sure...
The other pedestrian underpasses are just around the shopping centre, then the segments at approx 2:20 are filmed in Station Square with the old Bus Station in the background.
I can't tell where the houses are.