本文提出一种基于多模态 Transformer 的上下文感知行人轨迹预测方法，输入行人位置与自车速度，单次预测完整轨迹，在 PIE 和 JAAD 数据集上取得最低误差和更快速度。
摘要：
我们提出了一种用于预测行人未来轨迹的新方法。该方法采用多模态编码器-解码器 Transformer 架构，输入包括行人位置和自车速度。值得注意的是，我们的解码器在单次前向传播中预测完整未来轨迹，而不进行逐步预测，这使得该方法适合嵌入式边缘部署。我们在两个常用数据集 PIE 和 JAAD 上进行了详细实验并评估了该方法。定量结果表明，我们提出的模型优于当前最先进方法，在 0.5 秒、1.0 秒和 1.5 秒三个时间范围内均持续取得最低误差。此外，在 PIE 和 JAAD 两个数据集上，所提方法的运行速度显著快于最先进方法。最后，消融实验证明了该方法关键多模态配置的影响。
英文摘要：
We propose a novel solution for predicting future trajectories of pedestrians. Our method uses a multimodal encoder-decoder transformer architecture, which takes as input both pedestrian locations and ego-vehicle speeds. Notably, our decoder predicts the entire future trajectory in a single-pass and does not perform one-step-ahead prediction, which makes the method effective for embedded edge deployment. We perform detailed experiments and evaluate our method on two popular datasets, PIE and JAAD. Quantitative results demonstrate the superiority of our proposed model over the current state-of-the-art, which consistently achieves the lowest error for 3 time horizons of 0.5, 1.0 and 1.5 seconds. Moreover, the proposed method is significantly faster than the state-of-the-art for the two datasets of PIE and JAAD. Lastly, ablation experiments demonstrate the impact of the key multimodal configuration of our method.
Mercedes-Benz AG（梅赛德斯-奔驰股份公司）；University of Stuttgart（斯图加特大学）
This paper presents a novel approach to pedestrian trajectory prediction for on-board camera systems, which utilizes behavioral features of pedestrians that can be inferred from visual observations. Our proposed method, called Behavior-Aware Pedestrian Trajectory Prediction (BA-PTP), processes multiple input modalities, i.e. bounding boxes, body and head orientation of pedestrians as well as their pose, with independent encoding streams. The encodings of each stream are fused using a modality attention mechanism, resulting in a final embedding that is used to predict future bounding boxes in t…
Video anomaly detection is a core problem in vision. Correctly detecting and identifying anomalous behaviors in pedestrians from video data will enable safety-critical applications such as surveillance, activity monitoring, and human-robot interaction. In this paper, we propose to leverage trajectory localization and prediction for unsupervised pedestrian anomaly event detection. Different than previous reconstruction-based approaches, our proposed framework rely on the prediction errors of normal and abnormal pedestrian trajectories to detect anomalies spatially and temporally. We present exp…
University of Electronic Science and Technology of China（电子科技大学）
Recently, generative adversarial networks (GANs) have shown great advantages in synthesizing images, leading to a boost of explorations of using faked images to augment data. This paper proposes a multimodal cascaded generative adversarial networks (PMC-GANs) to generate realistic and diversified pedestrian images and augment pedestrian detection data. The generator of our model applies a residual U-net structure, with multi-scale residual blocks to encode features, and attention residual blocks to help decode and rebuild pedestrian images. The model constructs in a coarse-to-fine fashion and …
Pedestrian trajectory prediction is essential for collision avoidance in autonomous driving and robot navigation. However, predicting a pedestrian's trajectory in crowded environments is non-trivial as it is influenced by other pedestrians' motion and static structures that are present in the scene. Such human-human and human-space interactions lead to non-linearities in the trajectories. In this paper, we present a new spatio-temporal graph based Long Short-Term Memory (LSTM) network for predicting pedestrian trajectory in crowded environments, which takes into account the interaction with st…
Pedestrian trajectory prediction is valuable for understanding human motion behaviors and it is challenging because of the social influence from other pedestrians, the scene constraints and the multimodal possibilities of predicted trajectories. Most existing methods only focus on two of the above three key elements. In order to jointly consider all these elements, we propose a novel trajectory prediction method named Scene Gated Social Graph (SGSG). In the proposed SGSG, dynamic graphs are used to describe the social relationship among pedestrians. The social and scene influences are taken in…
JD Finance America Corporation（京东金融美国公司）；Alibaba Group（阿里巴巴集团）；Wormpex AI Research（Wormpex AI 研究院）
Pedestrian trajectory prediction is a key technology in autopilot, which remains to be very challenging due to complex interactions between pedestrians. However, previous works based on dense undirected interaction suffer from modeling superfluous interactions and neglect of trajectory motion tendency, and thus inevitably result in a considerable deviance from the reality. To cope with these issues, we present a Sparse Graph Convolution Network~(SGCN) for pedestrian trajectory prediction. Specifically, the SGCN explicitly models the sparse directed interaction with a sparse directed spatial gr…
Georgia Institute of Technology（佐治亚理工学院）；Ford Motor Company（福特汽车公司）
In smart transportation, intelligent systems avoid potential collisions by predicting the intent of traffic agents, especially pedestrians. Pedestrian intent, defined as future action, e.g., start crossing, can be dependent on traffic surroundings. In this paper, we develop a framework to incorporate such dependency given observed pedestrian trajectory and scene frames. Our framework first encodes regional joint information between a pedestrian and surroundings over time into feature-map vectors. The global relation representations are then extracted from pairwise feature-map vectors to estima…
Forecasting the trajectory of pedestrians in shared urban traffic environments is still considered one of the challenging problems facing the development of autonomous vehicles (AVs). In the literature, this problem is often tackled using recurrent neural networks (RNNs). Despite the powerful capabilities of RNNs in capturing the temporal dependency in the pedestrians' motion trajectories, they were argued to be challenged when dealing with longer sequential data. Thus, in this work, we are introducing a framework based on the transformer networks that were shown recently to be more efficient …
Pedestrian trajectory prediction is crucial for many important applications. This problem is a great challenge because of complicated interactions among pedestrians. Previous methods model only the pairwise interactions between pedestrians, which not only oversimplifies the interactions among pedestrians but also is computationally inefficient. In this paper, we propose a novel model StarNet to deal with these issues. StarNet has a star topology which includes a unique hub network and multiple host networks. The hub network takes observed trajectories of all pedestrians to produce a comprehens…
Detecting pedestrians and predicting future trajectories for them are critical tasks for numerous applications, such as autonomous driving. Previous methods either treat the detection and prediction as separate tasks or simply add a trajectory regression head on top of a detector. In this work, we present a novel end-to-end two-stage network: Spatio-Temporal-Interactive Network (STINet). In addition to 3D geometry modeling of pedestrians, we model the temporal information for each of the pedestrians. To do so, our method predicts both current and past locations in the first stage, so that each…
Pedestrian trajectory prediction is challenging due to its uncertain and multimodal nature. While generative adversarial networks can learn a distribution over future trajectories, they tend to predict out-of-distribution samples when the distribution of future trajectories is a mixture of multiple, possibly disconnected modes. To address this issue, we propose a multi-generator model for pedestrian trajectory prediction. Each generator specializes in learning a distribution over trajectories routing towards one of the primary modes in the scene, while a second network learns a categorical dis…
University of Warwick（华威大学）；Nanyang Technological University（南洋理工大学）
We introduce the task of multi-camera trajectory forecasting (MCTF), where the future trajectory of an object is predicted in a network of cameras. Prior works consider forecasting trajectories in a single camera view. Our work is the first to consider the challenging scenario of forecasting across multiple non-overlapping camera views. This has wide applicability in tasks such as re-identification and multi-target multi-camera tracking. To facilitate research in this new area, we release the Warwick-NTU Multi-camera Forecasting Database (WNMF), a unique dataset of multi-camera pedestrian traj…
ShanghaiTech University（上海科技大学）；The Chinese University of Hong Kong（香港中文大学）；RWTH Aachen University（亚琛工业大学）；Shanghai AI Laboratory（上海人工智能实验室）；University of Kentucky（肯塔基大学）；University of Maryland at College Park（马里兰大学帕克分校）
Accurately detecting and tracking pedestrians in 3D space is challenging due to large variations in rotations, poses and scales. The situation becomes even worse for dense crowds with severe occlusions. However, existing benchmarks either only provide 2D annotations, or have limited 3D annotations with low-density pedestrian distribution, making it difficult to build a reliable pedestrian perception system especially in crowded scenes. To better evaluate pedestrian perception algorithms in crowded scenarios, we introduce a large-scale multimodal dataset,STCrowd. Specifically, in STCrowd, there…
We present BiPOCO, a Bi-directional trajectory predictor with POse COnstraints, for detecting anomalous activities of pedestrians in videos. In contrast to prior work based on feature reconstruction, our work identifies pedestrian anomalous events by forecasting their future trajectories and comparing the predictions with their expectations. We introduce a set of novel compositional pose-based losses with our predictor and leverage prediction errors of each body joint for pedestrian anomaly detection. Experimental results show that our BiPOCO approach can detect pedestrian anomalous activities…
This paper presents a novel framework for human trajectory prediction based on multimodal data (video and radar). Motivated by recent neuroscience discoveries, we propose incorporating a structured memory component in the human trajectory prediction pipeline to capture historical information to improve performance. We introduce structured LSTM cells for modelling the memory content hierarchically, preserving the spatiotemporal structure of the information and enabling us to capture both short-term and long-term context. We demonstrate how this architecture can be extended to integrate salient …
Pedestrian trajectory prediction is a prominent research track that has advanced towards modelling of crowd social and contextual interactions, with extensive usage of Long Short-Term Memory (LSTM) for temporal representation of walking trajectories. Existing approaches use virtual neighborhoods as a fixed grid for pooling social states of pedestrians with tuning process that controls how social interactions are being captured. This entails performance customization to specific scenes but lowers the generalization capability of the approaches. In our work, we deploy \textit{Grid-LSTM}, a recen…
Excellence Cluster Science of Intelligence（智能科学卓越集群）；Technische Universitat Berlin（柏林工业大学）
Trajectory prediction is an essential task for successful human robot interaction, such as in autonomous driving. In this work, we address the problem of predicting future pedestrian trajectories in a first person view setting with a moving camera. To that end, we propose a novel action-based contrastive learning loss, that utilizes pedestrian action information to improve the learned trajectory embeddings. The fundamental idea behind this new loss is that trajectories of pedestrians performing the same action should be closer to each other in the feature space than the trajectories of pedestr…
TrajFusionNet+: Transformer-Based Prediction of Pedestrian Crossing Intention via Fusion of Trajectory Representations and Scene Graphs
Perception, Robotics and Intelligent Machines Research Group (PRIME)（感知、机器人与智能机器研究组（PRIME））；Department of Computer Science, Université de Moncton（蒙克顿大学计算机科学系）
Intention Enhanced Diffusion Model for Multimodal Pedestrian Trajectory Prediction
Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, the Southern University of Science and Technology, Shenzhen 518055, China（广东省全自动化系统控制理论与技术重点实验室，南方科技大学，深圳518055，中国）；Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China（香港城市大学机械工程系，香港特别行政区，中国）
School of Computer and Artificial Intelligence, Zhengzhou University（郑州大学计算机与人工智能学院）；Henan Institute of Advanced Technology, Zhengzhou University（郑州大学河南先进技术研究院）；NLPR, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所模式识别国家重点实验室）；University of Chinese Academy of Sciences（中国科学院大学）
Pedestrian trajectory prediction is an important technique of autonomous driving, which has become a research hot-spot in recent years. Previous methods mainly rely on the position relationship of pedestrians to model social interaction, which is obviously not enough to represent the complex cases in real situations. In addition, most of existing work usually introduce the scene interaction module as an independent branch and embed the social interaction features in the process of trajectory generation, rather than simultaneously carrying out the social interaction and scene interaction, which…
Three-Step Hierarchical Transformer for Multi-Pedestrian Trajectory Prediction
IMT Nord Europe, University of Lille, CNRS UMR 9189 - CRIStAL（IMT 北欧洲、里尔大学、法国国家科学研究中心 UMR 9189 - CRIStAL）；University of Lille, CNRS UMR 9189 - CRIStAL（里尔大学、法国国家科学研究中心 UMR 9189 - CRIStAL）；Explain
Indian Statistical Institute（印度统计研究所）；Valeo India（法雷奥印度公司）；Valeo Visions Systems（法雷奥视觉系统公司）
Pedestrian Detection is the most critical module of an Autonomous Driving system. Although a camera is commonly used for this purpose, its quality degrades severely in low-light night time driving scenarios. On the other hand, the quality of a thermal camera image remains unaffected in similar conditions. This paper proposes an end-to-end multimodal fusion model for pedestrian detection using RGB and thermal images. Its novel spatio-contextual deep network architecture is capable of exploiting the multimodal input efficiently. It consists of two distinct deformable ResNeXt-50 encoders for feat…
Pedestrian trajectory prediction is an essential and challenging task for a variety of real-life applications such as autonomous driving and robotic motion planning. Besides generating a single future path, predicting multiple plausible future paths is becoming popular in some recent work on trajectory prediction. However, existing methods typically emphasize spatial interactions between pedestrians and surrounding areas but ignore the smoothness and temporal consistency of predictions. Our model aims to forecast multiple paths based on a historical trajectory by modeling multi-scale graph-bas…
A Multi-Stage Goal-Driven Network for Pedestrian Trajectory Prediction
Minjiang University（闽江大学）；Fuzhou University（福州大学）；South China University of Technology（华南理工大学）；European University Cyprus（塞浦路斯欧洲大学）；SYSTEMA Research Center（SYSTEMA研究中心）
Trajectory prediction is a fundamental and challenging task for numerous applications, such as autonomous driving and intelligent robots. Currently, most of existing work treat the pedestrian trajectory as a series of fixed two-dimensional coordinates. However, in real scenarios, the trajectory often exhibits randomness, and has its own probability distribution. Inspired by this observed fact, also considering other movement characteristics of pedestrians, we propose one simple and intuitive movement description, probability trajectory, which maps the coordinate points of pedestrian trajectory…
The University of Sydney（悉尼大学）；SenseTime Computer Vision Research Group（商汤科技计算机视觉研究组）
In crowd scenarios, reliable trajectory prediction of pedestrians requires insightful understanding of their social behaviors. These behaviors have been well investigated by plenty of studies, while it is hard to be fully expressed by hand-craft rules. Recent studies based on LSTM networks have shown great ability to learn social behaviors. However, many of these methods rely on previous neighboring hidden states but ignore the important current intention of the neighbors. In order to address this issue, we propose a data-driven state refinement module for LSTM network (SR-LSTM), which activat…
Understanding and predicting the intention of pedestrians is essential to enable autonomous vehicles and mobile robots to navigate crowds. This problem becomes increasingly complex when we consider the uncertainty and multimodality of pedestrian motion, as well as the implicit interactions between members of a crowd, including any response to a vehicle. Our approach, Probabilistic Crowd GAN, extends recent work in trajectory prediction, combining Recurrent Neural Networks (RNNs) with Mixture Density Networks (MDNs) to output probabilistic multimodal predictions, from which likely modal paths a…
University of Warwick（华威大学）；Michigan State University（密歇根州立大学）
Reliable anticipation of pedestrian trajectory is imperative for the operation of autonomous vehicles and can significantly enhance the functionality of advanced driver assistance systems. While significant progress has been made in the field of pedestrian detection, forecasting pedestrian trajectories remains a challenging problem due to the unpredictable nature of pedestrians and the huge space of potentially useful features. In this work, we present a deep learning approach for pedestrian trajectory forecasting using a single vehicle-mounted camera. Deep learning models that have revolution…
We develop a novel human trajectory prediction system that incorporates the scene information (Scene-LSTM) as well as individual pedestrian movement (Pedestrian-LSTM) trained simultaneously within static crowded scenes. We superimpose a two-level grid structure (grid cells and subgrids) on the scene to encode spatial granularity plus common human movements. The Scene-LSTM captures the commonly traveled paths that can be used to significantly influence the accuracy of human trajectory prediction in local areas (i.e. grid cells). We further design scene data filters, consisting of a hard filter …
Pedestrian trajectory prediction is a challenging task as there are three properties of human movement behaviors which need to be addressed, namely, the social influence from other pedestrians, the scene constraints, and the multimodal (multiroute) nature of predictions. Although existing methods have explored these key properties, the prediction process of these methods is autoregressive. This means they can only predict future locations sequentially. In this paper, we present NAP, a non-autoregressive method for trajectory prediction. Our method comprises specifically designed feature encode…
GoalNet: Goal Areas Oriented Pedestrian Trajectory Prediction
Department of Electronic Engineering, National Taipei University of Technology（电子工程系，国立台北科技大学）；Department of Artificial Intelligence Technology, National Taipei University of Technology（人工智能技术系，国立台北科技大学）
College of Electronics and Information Engineering, Shenzhen University（深圳大学电子与信息工程学院）；Guangdong Key Laboratory of Intelligent Information Processing（广东省智能信息处理重点实验室）；Department of Computer and Information Science, University of Macau（澳门大学计算机与信息科学系）；State Key Laboratory of Internet of Things for Smart City（物联网与智慧城市国家重点实验室）
Predicting human motion behavior in a crowd is important for many applications, ranging from the natural navigation of autonomous vehicles to intelligent security systems of video surveillance. All the previous works model and predict the trajectory with a single resolution, which is rather inefficient and difficult to simultaneously exploit the long-range information (e.g., the destination of the trajectory), and the short-range information (e.g., the walking direction and speed at a certain time) of the motion behavior. In this paper, we propose a temporal pyramid network for pedestrian traj…
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；University of Michigan（密歇根大学）
Multi-pedestrian trajectory prediction is an indispensable element of autonomous systems that safely interact with crowds in unstructured environments. Many recent efforts in trajectory prediction algorithms have focused on understanding social norms behind pedestrian motions. Yet we observe these works usually hold two assumptions, which prevent them from being smoothly applied to robot applications: (1) positions of all pedestrians are consistently tracked, and (2) the target agent pays attention to all pedestrians in the scene. The first assumption leads to biased interaction modeling with …
MUSCLE-NET: Predicted-Multiscale-Aware Network for Pedestrian Trajectory Forecasting
Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology (SUSTech), Shenzhen（广东省全主动系统控制理论与技术重点实验室，自动化与智能制造学院，南方科技大学（SUSTech），深圳）；Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, China（香港城市大学机械工程系，香港特别行政区，中国）
Modeling Pedestrian Intrinsic Uncertainty for Multimodal Stochastic Trajectory Prediction via Energy Plan Denoising
School of Computing, Macquarie University（麦考瑞大学计算学院）；Data 61, CSIRO（联邦科学与工业研究组织Data 61研究院）；School of Computer Science and Engineering, University of New South Wales（新南威尔士大学计算机科学与工程学院）
TrajFusionNet: Pedestrian Crossing Intention Prediction via Fusion of Sequential and Visual Trajectory Representations
Perception, Robotics and Intelligent Machines Research Group (PRIME) Department of Computer Science, Université de Moncton, Canada（感知、机器人与智能机器研究组（PRIME）计算机科学系，新不伦瑞克大学）
School of Mechanical Engineering, University of Science and Technology Beijing（北京科技大学机械工程学院）
As a core technology of the autonomous driving system, pedestrian trajectory prediction can significantly enhance the function of active vehicle safety and reduce road traffic injuries. In traffic scenes, when encountering with oncoming people, pedestrians may make sudden turns or stop immediately, which often leads to complicated trajectories. To predict such unpredictable trajectories, we can gain insights into the interaction between pedestrians. In this paper, we present a novel generative method named Spatial Interaction Transformer (SIT), which learns the spatio-temporal correlation of p…
