In this work we propose a deep learning pipeline to predict the visual future appearance of an urban scene. Despite recent advances, generating the entire scene in an end-to-end fashion is still far from being achieved. Instead, here we follow a two stages approach, where interpretable information is included in the loop and each actor is modelled independently. We leverage a per-object novel view synthesis paradigm; i.e. generating a synthetic representation of an object undergoing a geometrical roto-translation in the 3D space. Our model can be easily conditioned with constraints (e.g. input trajectories) provided by state-of-the-art tracking methods or by the user itself. This allows us to generate a set of diverse realistic futures starting from the same input in a multi-modal fashion. We visually and quantitatively show the superiority of this approach over traditional end-to-end scene-generation methods on CityFlow, a challenging real world dataset.
Wuhan University（武汉大学）；University of Arkansas（阿肯色大学）；Leador Spatial Information Technology Corporation（立得空间信息技术股份有限公司）
In a complex urban scene, observation from a single sensor unavoidably leads to voids in observations, failing to describe urban objects in a comprehensive manner. In this paper, we propose a spatio-temporal-spectral-angular observation model to integrate observations from UAV and mobile mapping vehicle platform, realizing a joint, coordinated observation operation from both air and ground. We develop a multi-source remote sensing data acquisition system to effectively acquire multi-angle data of complex urban scenes. Multi-source data fusion solves the missing data problem caused by occlusion…
Detecting and tracking vehicles in urban scenes is a crucial step in many traffic-related applications as it helps to improve road user safety among other benefits. Various challenges remain unresolved in multi-object tracking (MOT) including target information description, long-term occlusions and fast motion. We propose a multi-vehicle detection and tracking system following the tracking-by-detection paradigm that tackles the previously mentioned challenges. Our MOT method extends an Intersection-over-Union (IOU)-based tracker with vehicle re-identification features. This allows us to utiliz…
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）；Toyota Motor Europe（丰田汽车欧洲公司）；CISPA Helmholtz Center for Information Security（CISPA亥姆霍兹信息安全中心）
Accurate prediction of pedestrian and bicyclist paths is integral to the development of reliable autonomous vehicles in dense urban environments. The interactions between vehicle and pedestrian or bicyclist have a significant impact on the trajectories of traffic participants e.g. stopping or turning to avoid collisions. Although recent datasets and trajectory prediction approaches have fostered the development of autonomous vehicles yet the amount of vehicle-pedestrian (bicyclist) interactions modeled are sparse. In this work, we propose Euro-PVI, a dataset of pedestrian and bicyclist traject…
Universitat Oberta de Catalunya（加泰罗尼亚开放大学）；Universitat Rovira i Virgili（罗维拉-威尔吉利大学）；Massachusetts Institute of Technology（麻省理工学院）
At the moment, urban mobility research and governmental initiatives are mostly focused on motor-related issues, e.g. the problems of congestion and pollution. And yet, we can not disregard the most vulnerable elements in the urban landscape: pedestrians, exposed to higher risks than other road users. Indeed, safe, accessible, and sustainable transport systems in cities are a core target of the UN's 2030 Agenda. Thus, there is an opportunity to apply advanced computational tools to the problem of traffic safety, in regards especially to pedestrians, who have been often overlooked in the past. T…
Urban Traffic Surveillance (UTS) is a surveillance system based on a monocular and calibrated video camera that detects vehicles in an urban traffic scenario with dense traffic on multiple lanes and vehicles performing sharp turning maneuvers. UTS then tracks the vehicles using a 3D bounding box representation and a physically reasonable 3D motion model relying on an unscented Kalman filter based approach. Since UTS recovers positions, shape and motion information in a three-dimensional world coordinate system, it can be employed to recognize diverse traffic violations or to supply intelligent…
Universidad de Alcalá（阿尔卡拉大学）；European Commission, Joint Research Center（欧盟委员会联合研究中心）
Understanding the behavior of road users is of vital importance for the development of trajectory prediction systems. In this context, the latest advances have focused on recurrent structures, establishing the social interaction between the agents involved in the scene. More recently, simpler structures have also been introduced for predicting pedestrian trajectories, based on Transformer Networks, and using positional information. They allow the individual modelling of each agent's trajectory separately without any complex interaction terms. Our model exploits these simple structures by addin…
The increasingly dense traffic is becoming a challenge in our local settings, urging the need for a better traffic monitoring and management system. Fine-grained vehicle classification appears to be a challenging task as compared to vehicle coarse classification. Exploring a robust approach for vehicle detection and classification into fine-grained categories is therefore essentially required. Existing Vehicle Make and Model Recognition (VMMR) systems have been developed on synchronized and controlled traffic conditions. Need for robust VMMR in complex, urban, heterogeneous, and unsynchronized…
Microscopic Vehicle Trajectory Datasets from UAV-collected Video for Heterogeneous, Area-Based Urban Traffic
Transportation Research & Injury Prevention Centre (TRIPC), Indian Institute of Technology Delhi（印度理工学院德里分校交通研究与伤害预防中心（TRIPC））；Indian Institute of Technology Delhi（印度理工学院德里分校）；Queensland University of Technology（昆士兰科技大学）
Due to their ubiquity and long-term stability, pole-like objects are well suited to serve as landmarks for vehicle localization in urban environments. In this work, we present a complete mapping and long-term localization system based on pole landmarks extracted from 3-D lidar data. Our approach features a novel pole detector, a mapping module, and an online localization module, each of which are described in detail, and for which we provide an open-source implementation at www.github.com/acschaefer/polex. In extensive experiments, we demonstrate that our method improves on the state of the ar…
National University of Ireland, Galway（爱尔兰国立大学戈尔韦分校）；Atlantic Technological University（大西洋理工大学）
Accurate detection and classification of vulnerable road users is a safety critical requirement for the deployment of autonomous vehicles in heterogeneous traffic. Although similar in physical appearance to pedestrians, e-scooter riders follow distinctly different characteristics of movement and can reach speeds of up to 45kmph. The challenge of detecting e-scooter riders is exacerbated in urban environments where the frequency of partial occlusion is increased as riders navigate between vehicles, traffic infrastructure and other road users. This can lead to the non-detection or mis-classifica…
Internet Interdisciplinary Institute (IN3), Universitat Oberta de Catalunya（互联网跨学科研究所（IN3），加泰罗尼亚开放大学）
Increased interaction between and among pedestrians and vehicles in the crowded urban environments of today gives rise to a negative side-effect: a growth in traffic accidents, with pedestrians being the most vulnerable elements. Recent work has shown that Convolutional Neural Networks are able to accurately predict accident rates exploiting Street View imagery along urban roads. The promising results point to the plausibility of aided design of safe urban landscapes, for both pedestrians and vehicles. In this paper, by considering historical accident data and Street View images, we detail how…
This work studies the problem of predicting the sequence of future actions for surround vehicles in real-world driving scenarios. To this aim, we make three main contributions. The first contribution is an automatic method to convert the trajectories recorded in real-world driving scenarios to action sequences with the help of HD maps. The method enables automatic dataset creation for this task from large-scale driving data. Our second contribution lies in applying the method to the well-known traffic agent tracking and prediction dataset Argoverse, resulting in 228,000 action sequences. Addit…
