Log In Sign Up

Off The Beaten Sidewalk: Pedestrian Prediction In Shared Spaces For Autonomous Vehicles

by   Cyrus Anderson, et al.

Pedestrians and drivers interact closely in a wide range of environments. Autonomous vehicles (AVs) correspondingly face the need to predict pedestrians' future trajectories in these same environments. Traditional model-based prediction methods have been limited to making predictions in highly structured scenes with signalized intersections, marked crosswalks, or curbs. Deep learning methods have instead leveraged datasets to learn predictive features that generalize across scenes, at the cost of model interpretability. This paper aims to achieve both widely applicable and interpretable predictions by proposing a risk-based attention mechanism to learn when pedestrians yield, and a model of vehicle influence to learn how yielding affects motion. A novel probabilistic method, Off the Sidewalk Predictions (OSP), uses these to achieve accurate predictions in both shared spaces and traditional scenes. Experiments on urban datasets demonstrate that the realtime method achieves state-of-the-art performance.


page 1

page 3

page 7


Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centers

Accurate prediction of pedestrian and bicyclist paths is integral to the...

A Kinematic Model for Trajectory Prediction in General Highway Scenarios

Highway driving invariably combines high speeds with the need to interac...

Pedestrian Trajectory Prediction using Context-Augmented Transformer Networks

Forecasting the trajectory of pedestrians in shared urban traffic enviro...

Socially Aware Crowd Navigation with Multimodal Pedestrian Trajectory Prediction for Autonomous Vehicles

Seamlessly operating an autonomous vehicle in a crowded pedestrian envir...

SCAN: A Spatial Context Attentive Network for Joint Multi-Agent Intent Prediction

Safe navigation of autonomous agents in human centric environments requi...

Pedestrian Action Anticipation using Contextual Feature Fusion in Stacked RNNs

One of the major challenges for autonomous vehicles in urban environment...

Building Prior Knowledge: A Markov Based Pedestrian Prediction Model Using Urban Environmental Data

Autonomous Vehicles navigating in urban areas have a need to understand ...