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 revolutionized other areas in computer vision have seen limited application to trajectory forecasting, in part due to the lack of richly annotated training data. We address the lack of training data by introducing a scalable machine annotation scheme that enables our model to be trained using a large dataset without human annotation. In addition, we propose Dynamic Trajectory Predictor (DTP), a model for forecasting pedestrian trajectory up to one second into the future. DTP is trained using both human and machine-annotated data, and anticipates dynamic motion that is not captured by linear models. Experimental evaluation confirms the benefits of the proposed model.
Data-driven approaches for trajectory forecasting have gained attention in recent years resulting from the success of deep learning models for related problems such as image classification, action recognition, and pedestrian detection. In particular, deep learning models have been applied to trajectory forecasting in a surveillance setting with a fixed overhead camera on datasets such as UCY @cite_19 and ETH @cite_37 , or forecasting vehicle trajectories @cite_10 . In @cite_1 , pedestrian trajectory is forecast by encoding pedestrian location as a sparse vector which is used directly as input to a convolutional neural network (CNN). In @cite_12 , pedestrian trajectory is forecast from a static, overhead camera using a long short-term memory (LSTM) network. The authors introduce social pooling, which models the social interactions between multiple pedestrians.
@cite_37 @cite_1 @cite_19 @cite_10 @cite_12
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This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion predictions of the surrounding pedestrians. Human navigation behavior is mostly influenced by their surrounding pedestrians and by the static obstacles in their vicinity. In this paper we introduce a new model based on Long-Short Term Memory (LSTM) neural networks, which is able to learn human motion behavior from demonstrated data. To the best of our knowledge, this is the first approach using LSTMs, that incorporates both static obstacles and surrounding pedestrians for trajectory forecasting. As part of the model, we introduce a new way of encoding surrounding pedestrians based on a 1d-grid in polar angle space. We evaluate the benefit of interaction-aware motion prediction and the added value of incorporating static obstacles on both simulation and real-world datasets by comparing with state-of-the-art approaches. The results show, that our new approach outperforms the other approaches while being very computationally efficient and that taking into account static obstacles for motion predictions significantly improves the prediction accuracy, especially in cluttered environments. In crowded spaces such as city centers or train stations, human mobility looks complex, but is often influenced only by a few causes. We propose to quantitatively study crowded environments by introducing a dataset of 42 million trajectories collected in train stations. Given this dataset, we address the problem of forecasting pedestrians' destinations, a central problem in understanding large-scale crowd mobility. We need to overcome the challenges posed by a limited number of observations (e.g. sparse cameras), and change in pedestrian appearance cues across different cameras. In addition, we often have restrictions in the way pedestrians can move in a scene, encoded as priors over origin and destination (OD) preferences. We propose a new descriptor coined as Social Affinity Maps (SAM) to link broken or unobserved trajectories of individuals in the crowd, while using the OD-prior in our framework. Our experiments show improvement in performance through the use of SAM features and OD prior. To the best of our knowledge, our work is one of the first studies that provides encouraging results towards a better understanding of crowd behavior at the scale of million pedestrians. Pedestrians follow different trajectories to avoid obstacles and accommodate fellow pedestrians. Any autonomous vehicle navigating such a scene should be able to foresee the future positions of pedestrians and accordingly adjust its path to avoid collisions. This problem of trajectory prediction can be viewed as a sequence generation task, where we are interested in predicting the future trajectory of people based on their past positions. Following the recent success of Recurrent Neural Network (RNN) models for sequence prediction tasks, we propose an LSTM model which can learn general human movement and predict their future trajectories. This is in contrast to traditional approaches which use hand-crafted functions such as Social forces. We demonstrate the performance of our method on several public datasets. Our model outperforms state-of-the-art methods on some of these datasets. We also analyze the trajectories predicted by our model to demonstrate the motion behaviour learned by our model. Human motion and behaviour in crowded spaces is influenced by several factors, such as the dynamics of other moving agents in the scene, as well as the static elements that might be perceived as points of attraction or obstacles. In this work, we present a new model for human trajectory prediction which is able to take advantage of both human-human and human-space interactions. The future trajectory of humans, are generated by observing their past positions and interactions with the surroundings. To this end, we propose a "context-aware" recurrent neural network LSTM model, which can learn and predict human motion in crowded spaces such as a sidewalk, a museum or a shopping mall. We evaluate our model on a public pedestrian datasets, and we contribute a new challenging dataset that collects videos of humans that navigate in a (real) crowded space such as a big museum. Results show that our approach can predict human trajectories better when compared to previous state-of-the-art forecasting models. Humans navigate crowded spaces such as a university campus by following common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new target tracking or trajectory forecasting methods that can take full advantage of these rules, we need to have access to better data in the first place. To that end, we contribute a new large-scale dataset that collects videos of various types of targets (not just pedestrians, but also bikers, skateboarders, cars, buses, golf carts) that navigate in a real world outdoor environment such as a university campus. Moreover, we introduce a new characterization that describes the “social sensitivity” at which two targets interact. We use this characterization to define “navigation styles” and improve both forecasting models and state-of-the-art multi-target tracking–whereby the learnt forecasting models help the data association step. 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. Pedestrian trajectory prediction is an extremely challenging problem because of the crowdedness and clutter of the scenes. Previous deep learning LSTM-based approaches focus on the neighbourhood influence of pedestrians but ignore the scene layouts in pedestrian trajectory prediction. In this paper, a novel hierarchical LSTM-based network is proposed to consider both the influence of social neighbourhood and scene layouts. Our SS-LSTM, which stands for Social-Scene-LSTM, uses three different LSTMs to capture person, social and scene scale information. We also use a circular shape neighbourhood setting instead of the traditional rectangular shape neighbourhood in the social scale. We evaluate our proposed method against two baseline methods and a state-of-art technique on three public datasets. The results show that our method outperforms other methods and that using circular shape neighbourhood improves the prediction accuracy. Long-term activity forecasting deals with the problem of predicting how an agent will complete a full activity, defined as a continuous trajectory and a discrete sequence of sub-actions. While previous data-driven methods only dealt with forecasting 2D trajectories, we present a method that leverages common sense prior knowledge and minimal data. In order to forecast the trajectories, we learn a policy function that maps from states to actions the agent should perform next. Through the use of deep reinforcement learning, our method is able to learn a highly non-linear mapping from agent states to actions. We develop the first forecasting framework that uses ego-centric video input, which is an optimal vantage point for understanding human activities over large spaces. Given an annotated first person video sequence for the activity, we construct a 3D point cloud of the environment and activity paths through 3D space. Based on a limited number of examples, we use reinforcement learning to derive a policy for the entire environment, even for areas that have never been visited during the demonstrated examples. We explore the use of deep reinforcement learning to recover a direct mapping from environmental features to best action. Our approach makes it possible to combine a high dimensional continuous state (namely the local point could density surrounding the agent) with a discrete state portion (action stage of an activity) into a single state for behavior forecasting. The result is a policy that generalizes very well from only a few activity samples. We validate our approach on our First-Person Office Behavior Dataset and show that our method of encoding more prior knowledge leads to an increase in forecasting accuracy. We also demonstrate that the deep reinforcement learning approach is able to achieve higher forecasting accuracy than the traditional alternatives. Forecasting the motion of surrounding vehicles is a critical ability for an autonomous vehicle deployed in complex traffic. Motion of all vehicles in a scene is governed by the traffic context, i.e., the motion and relative spatial configuration of neighboring vehicles. In this paper we propose an LSTM encoder-decoder model that uses convolutional social pooling as an improvement to social pooling layers for robustly learning interdependencies in vehicle motion. Additionally, our model outputs a multi-modal predictive distribution over future trajectories based on maneuver classes. We evaluate our model using the publicly available NGSIM US-101 and I-80 datasets. Our results show improvement over the state of the art in terms of RMS values of prediction error and negative log-likelihoods of true future trajectories under the model's predictive distribution. We also present a qualitative analysis of the model's predicted distributions for various traffic scenarios. 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. We present a novel real-time algorithm to predict the path of pedestrians in cluttered environments. Our approach makes no assumption about pedestrian motion or crowd density, and is useful for short-term as well as long-term prediction. We interactively learn the characteristics of pedestrian motion and movement patterns from 2D trajectories using Bayesian inference. These include local movement patterns corresponding to the current and preferred velocities and global characteristics such as entry points and movement features. Our approach involves no precomputation and we demonstrate the real-time performance of our prediction algorithm on sparse and noisy trajectory data extracted from dense indoor and outdoor crowd videos. The combination of local and global movement patterns can improve the accuracy of long-term prediction by 12–18 over prior methods in high-density videos. Short-term traffic forecast is one of the essential issues in intelligent transportation system. Accurate forecast result enables commuters make appropriate travel modes, travel routes, and departure time, which is meaningful in traffic management. To promote the forecast accuracy, a feasible way is to develop a more effective approach for traffic data analysis. The availability of abundant traffic data and computation power emerge in recent years, which motivates us to improve the accuracy of short-term traffic forecast via deep learning approaches. A novel traffic forecast model based on long short-term memory (LSTM) network is proposed. Different from conventional forecast models, the proposed LSTM network considers temporal-spatial correlation in traffic system via a two-dimensional network which is composed of many memory units. A comparison with other representative forecast models validates that the proposed LSTM network can achieve a better performance. We develop predictive models of pedestrian dynamics by encoding the coupled nature of multi-pedestrian interaction using game theory and deep learning-based visual analysis to estimate person-specific behavior parameters. We focus on predictive models since they are important for developing interactive autonomous systems (e.g., autonomous cars, home robots, smart homes) that can understand different human behavior and pre-emptively respond to future human actions. Building predictive models for multi-pedestrian interactions however, is very challenging due to two reasons: (1) the dynamics of interaction are complex interdependent processes, where the decision of one person can affect others, and (2) dynamics are variable, where each person may behave differently (e.g., an older person may walk slowly while the younger person may walk faster). To address these challenges, we utilize concepts from game theory to model the intertwined decision making process of multiple pedestrians and use visual classifiers to learn a mapping from pedestrian appearance to behavior parameters. We evaluate our proposed model on several public multiple pedestrian interaction video datasets. Results show that our strategic planning model predicts and explains human interactions 25 better when compared to a state-of-the-art activity forecasting method. Trajectory Prediction of dynamic objects is a widely studied topic in the field of artificial intelligence. Thanks to a large number of applications like predicting abnormal events, navigation system for the blind, etc. there have been many approaches to attempt learning patterns of motion directly from data using a wide variety of techniques ranging from hand-crafted features to sophisticated deep learning models for unsupervised feature learning. All these approaches have been limited by problems like inefficient features in the case of hand crafted features, large error propagation across the predicted trajectory and no information of static artefacts around the dynamic moving objects. We propose an end to end deep learning model to learn the motion patterns of humans using different navigational modes directly from data using the much popular sequence to sequence model coupled with a soft attention mechanism. We also propose a novel approach to model the static artefacts in a scene and using these to predict the dynamic trajectories. The proposed method, tested on trajectories of pedestrians, consistently outperforms previously proposed state of the art approaches on a variety of large scale data sets. We also show how our architecture can be naturally extended to handle multiple modes of movement (say pedestrians, skaters, bikers and buses) simultaneously. In order to drive safely and efficiently on public roads, autonomous vehicles will have to understand the intentions of surrounding vehicles, and adapt their own behavior accordingly. If experienced human drivers are generally good at inferring other vehicles' motion up to a few seconds in the future, most current Advanced Driving Assistance Systems (ADAS) are unable to perform such medium-term forecasts, and are usually limited to high-likelihood situations such as emergency braking. In this article, we present a first step towards consistent trajectory prediction by introducing a long short-term memory (LSTM) neural network, which is capable of accurately predicting future longitudinal and lateral trajectories for vehicles on highway. Unlike previous work focusing on a low number of trajectories collected from a few drivers, our network was trained and validated on the NGSIM US-101 dataset, which contains a total of 800 hours of recorded trajectories in various traffic densities, representing more than 6000 individual drivers. Deep learning approaches have reached a celebrity status in artificial intelligence field, its success have mostly relied on Convolutional Networks (CNN) and Recurrent Networks. By exploiting fundamental spatial properties of images and videos, the CNN always achieves dominant performance on visual tasks. And the Recurrent Networks (RNN) especially long short-term memory methods (LSTM) can successfully characterize the temporal correlation, thus exhibits superior capability for time series tasks. Traffic flow data have plentiful characteristics on both time and space domain. However, applications of CNN and LSTM approaches on traffic flow are limited. In this paper, we propose a novel deep architecture combined CNN and LSTM to forecast future traffic flow (CLTFP). An 1-dimension CNN is exploited to capture spatial features of traffic flow, and two LSTMs are utilized to mine the short-term variability and periodicities of traffic flow. Given those meaningful features, the feature-level fusion is performed to achieve short-term forecasting. The proposed CLTFP is compared with other popular forecasting methods on an open datasets. Experimental results indicate that the CLTFP has considerable advantages in traffic flow forecasting. in additional, the proposed CLTFP is analyzed from the view of Granger Causality, and several interesting properties of CLTFP are discovered and discussed . We present an active pedestrian protection system that performs an autonomous lane-keeping evasive maneuver in urban traffic scenarios when collision avoidance by braking is no longer possible. The system focuses on pedestrians standing at the curb and intending to cross the street despite an approaching car. It is demonstrated that the evasive maneuver of the car can be initiated before the pedestrian's foot hits the lane, by means of video-based motion contour histograms of oriented gradients and stationary detection. Using clothoid-based real-time trajectory planning and a lateral control of the car, combining feedforward and feedback control, the difference between the driven and the calculated trajectories is kept below 10 cm at maximum lateral accelerations of 4 ms-2 and -5 ms-2. We present the technical realization of the system and its precision with respect to intention recognition and driven trajectories. A case study showed that the system reacted faster than human drivers in five out of 11 cases, with an average time gain of 214 ms, even though the drivers were able to pay the utmost attention to the behavior of the crossing pedestrian. Deep learning methods have achieved great successes in pedestrian detection, owing to its ability to learn discriminative features from raw pixels. However, they treat pedestrian detection as a single binary classification task, which may confuse positive with hard negative samples (Fig.1 (a)). To address this ambiguity, this work jointly optimize pedestrian detection with semantic tasks, including pedestrian attributes (e.g. ‘carrying backpack’) and scene attributes (e.g. ‘vehicle’, ‘tree’, and ‘horizontal’). Rather than expensively annotating scene attributes, we transfer attributes information from existing scene segmentation datasets to the pedestrian dataset, by proposing a novel deep model to learn high-level features from multiple tasks and multiple data sources. Since distinct tasks have distinct convergence rates and data from different datasets have different distributions, a multi-task deep model is carefully designed to coordinate tasks and reduce discrepancies among datasets. Extensive evaluations show that the proposed approach outperforms the state-of-the-art on the challenging Caltech [9] and ETH [10] datasets where it reduces the miss rates of previous deep models by 17 and 5.5 percent, respectively. We address the problem of incrementally modeling and forecasting long-term goals of a first-person camera wearer: what the user will do, where they will go, and what goal they seek. In contrast to prior work in trajectory forecasting, our algorithm, DARKO, goes further to reason about semantic states (will I pick up an object?), and future goal states that are far in terms of both space and time. DARKO learns and forecasts from first-person visual observations of the user’s daily behaviors via an Online Inverse Reinforcement Learning (IRL) approach. Classical IRL discovers only the rewards in a batch setting, whereas DARKO discovers the states, transitions, rewards, and goals of a user from streaming data. Among other results, we show DARKO forecasts goals better than competing methods in both noisy and ideal settings, and our approach is theoretically and empirically no-regret. Multiple people tracking consists in detecting the subjects at each frame and matching these detections to obtain full trajectories. In semi-crowded environments, pedestrians often occlude each other, making tracking a challenging task. Most tracking methods make the assumption that each pedestrian's motion is independent, thereby ignoring the complex and important interaction between subjects. In this paper, we present an approach which includes the interaction between pedestrians in two ways: first, considering social and grouping behavior, and second, using a global optimization scheme to solve the data association problem. Results on three challenging publicly available datasets show our method outperforms state-of-the-art tracking systems.