This paper presents a novel 3DOF pedestrian trajectory prediction approach for autonomous mobile service robots. While most previously reported methods are based on learning of 2D positions in monocular camera images, our approach uses range-finder sensors to learn and predict 3DOF pose trajectories (i.e. 2D position plus 1D rotation within the world coordinate system). Our approach, T-Pose-LSTM (Temporal 3DOF-Pose Long-Short-Term Memory), is trained using long-term data from real-world robot deployments and aims to learn context-dependent (environment- and time-specific) human activities. Our approach incorporates long-term temporal information (i.e. date and time) with short-term pose observations as input. A sequence-to-sequence LSTM encoder-decoder is trained, which encodes observations into LSTM and then decodes as predictions. For deployment, it can perform on-the-fly prediction in real-time. Instead of using manually annotated data, we rely on a robust human detection, tracking and SLAM system, providing us with examples in a global coordinate system. We validate the approach using more than 15K pedestrian trajectories recorded in a care home environment over a period of three months. The experiment shows that the proposed T-Pose-LSTM model advances the state-of-the-art 2D-based method for human trajectory prediction in long-term mobile robot deployments.
Furthermore, researchers are working on understanding higher-level human behaviors from pedestrian trajectories in station surveillance videos, including work on travel time estimation @cite_13 , recognition of stationary crowd groups @cite_27 , and destination forecasting @cite_25 . Pioneering research has also considered the representation of dynamic maps from long-term datasets, including the FreMEn approach @cite_16 for signal analysis, which uses the Fourier Transform to identify underlying periodic processes in the environment and hence make predictions of human activities based on the frequency spectrum of the observations.
@cite_27 @cite_16 @cite_13 @cite_25
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Future vehicle systems for active pedestrian safety will not only require a high recognition performance but also an accurate analysis of the developing traffic situation. In this paper, we present a study on pedestrian path prediction and action classification at short subsecond time intervals. We consider four representative approaches: two novel approaches (based on Gaussian process dynamical models and probabilistic hierarchical trajectory matching) that use augmented features derived from dense optical flow and two approaches as baseline that use positional information only (a Kalman filter and its extension to interacting multiple models). In experiments using stereo vision data obtained from a vehicle, we investigate the accuracy of path prediction and action classification at various time horizons, the effect of various errors (image localization, vehicle egomotion estimation), and the benefit of the proposed approaches. The scenario of interest is that of a crossing pedestrian, who might stop or continue walking at the road curbside. Results indicate similar performance of the four approaches on walking motion, with near-linear dynamics. During stopping, however, the two newly proposed approaches, with nonlinear and or higher order models and augmented motion features, achieve a more accurate position prediction of 10-50 cm at a time horizon of 0-0.77 s around the stopping event. As humans we possess an intuitive ability for navigation which we master through years of practice; however existing approaches to model this trait for diverse tasks including monitoring pedestrian flow and detecting abnormal events have been limited by using a variety of hand-crafted features. Recent research in the area of deep-learning has demonstrated the power of learning features directly from the data; and related research in recurrent neural networks has shown exemplary results in sequence-to-sequence problems such as neural machine translation and neural image caption generation. Motivated by these approaches, we propose a novel method to predict the future motion of a pedestrian given a short history of their, and their neighbours, past behaviour. The novelty of the proposed method is the combined attention model which utilises both "soft attention" as well as "hard-wired" attention in order to map the trajectory information from the local neighbourhood to the future positions of the pedestrian of interest. We illustrate how a simple approximation of attention weights (i.e hard-wired) can be merged together with soft attention weights in order to make our model applicable for challenging real world scenarios with hundreds of neighbours. The navigational capability of the proposed method is tested on two challenging publicly available surveillance databases where our model outperforms the current-state-of-the-art methods. Additionally, we illustrate how the proposed architecture can be directly applied for the task of abnormal event detection without handcrafting the features. In this paper, we target on the problem of estimating the statistic of pedestrian travel time within a period from an entrance to a destination in a crowded scene. Such estimation is based on the global distributions of crowd densities and velocities instead of complete trajectories of pedestrians, which cannot be obtained in crowded scenes. The proposed method is motivated by our statistical investigation into the correlations between travel time and global properties of crowded scenes. Active regions are created for each source-destination pair to model the probable walking regions over the corresponding source-destination traffic flow. Two sets of scene features are specially designed for modeling moving and stationary persons inside the active regions and their influences on pedestrian travel time. The estimation of pedestrian travel time provides valuable information for both crowd scene understanding and pedestrian behavior analysis, but was not sufficiently studied in literature. The effectiveness of the proposed pedestrian travel time estimation model is demonstrated through several surveillance applications, including dynamic scene monitoring, localization of regions blocking traffics, and detection of abnormal pedestrian behaviors. Many more valuable applications based on our method are to be explored in the future. Nowadays, human movement in urban spaces can be traced digitally in many cases. It can be observed that movement patterns are not constant, but vary across time and space. In this work, we characterize such spatio-temporal patterns with an innovative combination of two separate approaches that have been utilized for studying human mobility in the past. First, by using non-negative tensor factorization (NTF), we are able to cluster human behavior based on spatio-temporal dimensions. Second, for characterizing these clusters, we propose to use HypTrails, a Bayesian approach for expressing and comparing hypotheses about human trails. To formalize hypotheses, we utilize publicly available Web data (i.e., Foursquare and census data). By studying taxi data in Manhattan, we can discover and characterize human mobility patterns that cannot be identified in a collective analysis. As one example, we find a group of taxi rides that end at locations with a high number of party venues on weekend nights. Our findings argue for a more fine-grained analysis of human mobility in order to make informed decisions for e.g., enhancing urban structures, tailored traffic control and location-based recommender systems.