The project was set up based around the idea of mapping the art of Lichfield and its surrounding towns, and followed discussions between Mr Walker and composer David Harper to create new work, exhibitions and events in the city.
A vital element of the project was the development of an easily accessible walking tour, which led to the creation of the City Sculpture Trail.
The trail, which can easily be completed in around two hours, even at a gentle pace, features around 20 sculptures. Along the route you can listen to "Soundscapes" - musical compositions dotted around the trail as an added enjoyment.
The Formation of Poetry sculpture depicting Dr Johnson's dictionary
Then, as you come out onto Tamworth Street you can see the distinctive Spring Water Memorial, erected by parishioners and friends of The Rev JJ Serjeantson, who was Rector of St Michael's in Lichfield from 1868 to 1886.
The memorial was happily refurbished in 2012 to commemorate the Diamond Jubilee of Her Majesty the Queen, but also the passing of the Olympic flame on its way to the London Games.
From there you can walk down the hill to the main Market Square where statues reside to both Dr Johnson, created by Richard Cockle Lucas in 1838, and biographer James Boswell, by Percy Hetherington Fitzgerald.
Some of the dozens of sculptures on the front of Lichfield Cathedral
Turning right, I headed for the magnificent Lichfield Cathedral which has more than 100 statues, including kings and saints, adorned outside on the front, while inside the works of art including the Sleeping Children memorial by Sir Francis Chantry and the imposing high altar.
Several sculptures can also be found within nearby Beacon Park, including the statue of Captain Smith of Titanic fame, which was created by Kathleen Scott in 1914, the Sailor Sculpure by Bridgeman, and the more recent stature of scientist Erasmus Darwin, created by Peter Walker in 2012.
Among the other sculptures to discover on the trail are the colourful Dr Johnson Mosaic on Bird Street, made by John Myatt in 1976, and the Reading Girl situated inside Lichfield Library on St John's Road.
The first two inaugural sculpture walks around the trail took place in July this year as part of the Lichfield Festival 2015, and were immediately hailed a success. Around 40 people attended over the two 90 minute conducted walks which were led by sculptor Peter Walker himself.