arXiv research

PIP-Net predicts pedestrian crossing intentions with up to 4-second lead.

Smooth handling of pedestrian interactions is a key requirement for Autonomous Vehicles (AV) and Advanced Driver Assistance Systems (ADAS). Such systems call for early and accurate prediction of a pedestrian's crossing/not-crossing behaviour in front of the vehicle. Existing approaches to pedestrian behaviour predictio…

This study uses ARM to analyze pedestrian crashes under different lighting conditions.

With the rise of self-driving vehicles comes the risk of accidents and the need for higher safety, and protection for pedestrian detection in the following scenarios: imminent crashes, thus the car should crash into an object and avoid the pedestrian, and in the case of road intersections, where it is important for the…

State-of-the-art pedestrian detection models have achieved great success in many benchmarks. However, these models require lots of annotation information and the labeling process usually takes much time and efforts. In this paper, we propose a method to generate labeled pedestrian data and adapt them to support the tra…

A novel pedestrian path-planning model using reinforcement learning.

GE finds failures in autonomous systems without domain heuristics.

A deep learning model improves pedestrian tracking accuracy.

Deep learning agent improves pedestrian navigation in urban environments.

This paper presents a novel context-based approach for pedestrian motion prediction in crowded, urban intersections, with the additional flexibility of prediction in similar, but new, environments. Previously, Chen et. al. combined Markovian-based and clustering-based approaches to learn motion primitives in a grid-bas…

This paper compares deep learning and knowledge-based methods for pedestrian trajectory prediction.

In this paper, we train a recurrent neural network to learn dynamics of a chaotic road environment and to project the future of the environment on an image. Future projection can be used to anticipate an unseen environment for example, in autonomous driving. Road environment is highly dynamic and complex due to the int…

Deep RL model optimizes pedestrian evacuation in multi-exit scenarios.

A comparison of SLDS and LSTM for pedestrian behavior prediction shows SLDS works better with shorter sequences.

Autonomous Vehicles navigating in urban areas have a need to understand and predict future pedestrian behavior for safer navigation. This high level of situational awareness requires observing pedestrian behavior and extrapolating their positions to know future positions. While some work has been done in this field usi…

An increasing amount of civil engineering applications are utilising data acquired from infrastructure instrumented with sensing devices. This data has an important role in monitoring the response of these structures to excitation, and evaluating structural health. In this paper we seek to monitor pedestrian-events (su…

This paper presents a novel framework for accurate pedestrian intent prediction at intersections. Given some prior knowledge of the curbside geometry, the presented framework can accurately predict pedestrian trajectories, even in new intersections that it has not been trained on. This is achieved by making use of the …

Representation learning of pedestrian trajectories transforms variable-length timestamp-coordinate tuples of a trajectory into a fixed-length vector representation that summarizes spatiotemporal characteristics. It is a crucial technique to connect feature-based data mining with trajectory data. Trajectory representati…

In this work, we investigate whether state-of-the-art object detection systems have equitable predictive performance on pedestrians with different skin tones. This work is motivated by many recent examples of ML and vision systems displaying higher error rates for certain demographic groups than others. We annotate an …

In most agent-based simulators, pedestrians navigate from origins to destinations. Consequently, destinations are essential input parameters to the simulation. While many other relevant parameters as positions, speeds and densities can be obtained from sensors, like cameras, destinations cannot be observed directly. Ou…

We propose and document the evidence for an analogy between the dynamics of granular counter-flows in the presence of bottlenecks or restrictions and financial price formation processes. Using extensive simulations, we find that the counter-flows of simulated pedestrians through a door display many stylized facts obser…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object detection is presented essentially with respect to aid self-driving vehicles in rec…

Deep Recurrent Q-Network improves autonomous driving in urban areas with pedestrians.

In this paper, we address an issue that the visually impaired commonly face while crossing intersections and propose a solution that takes form as a mobile application. The application utilizes a deep learning convolutional neural network model, LytNetV2, to output necessary information that the visually impaired may l…

We present Sequential Attend, Infer, Repeat (SQAIR), an interpretable deep generative model for videos of moving objects. It can reliably discover and track objects throughout the sequence of frames, and can also generate future frames conditioning on the current frame, thereby simulating expected motion of objects. Th…

Consider scene understanding problems such as predicting where a person is probably reaching, or inferring the pose of 3D objects from depth images, or inferring the probable street crossings of pedestrians at a busy intersection. This paper shows how to solve these problems using Approximate Bayesian Computation. The …

Bayesian approach models match and non-match score distributions over continuous covariates.

In multimodal traffic monitoring, we gather traffic statistics for distinct transportation modes, such as pedestrians, cars and bicycles, in order to analyze and improve people's daily mobility in terms of safety and convenience. On account of its robustness to bad light and adverse weather conditions, and inherent spe…

This paper presents the recently published Cerema AWP (Adverse Weather Pedestrian) dataset for various machine learning tasks and its exports in machine learning friendly format. We explain why this dataset can be interesting (mainly because it is a greatly controlled and fully annotated image dataset) and present base…

This paper proposes IMU preintegrated features for efficient deep inertial odometry.

Build accurate DNN models requires training on large labeled, context specific datasets, especially those matching the target scenario. We believe advances in wireless localization, working in unison with cameras, can produce automated annotation of targets on images and videos captured in the wild. Using pedestrian an…

Using publicly available traffic camera data in New York City, we quantify time-dependent patterns in aggregate pedestrian foot traffic. These patterns exhibit repeatable diurnal behaviors that differ for weekdays and weekends but are broadly consistent across neighborhoods in the borough of Manhattan. Weekday patterns…

During the development of autonomous systems such as driverless cars, it is important to characterize the scenarios that are most likely to result in failure. Adaptive Stress Testing (AST) provides a way to search for the most-likely failure scenario as a Markov decision process (MDP). Our previous work used a deep rei…

We propose a novel approach to parameter estimation for simulator-based statistical models with intractable likelihood. Our proposed method involves recursive application of kernel ABC and kernel herding to the same observed data. We provide a theoretical explanation regarding why the approach works, showing (for the p…

This work improves deep reinforcement learning robustness to adversarial state uncertainty.

EIM algorithm maximizes information projection for multi-modal data modeling.

This literature review focuses on three important aspects of an autonomous car system: tracking (assessing the identity of the actors such as cars, pedestrians or obstacles in a sequence of observations), prediction (predicting the future motion of surrounding vehicles in order to navigate through various traffic scena…

Reinforcement Learning (RL) aims at learning an optimal behavior policy from its own experiments and not rule-based control methods. However, there is no RL algorithm yet capable of handling a task as difficult as urban driving. We present a novel technique, coined implicit affordances, to effectively leverage RL for u…

This is a simple mathematical introduction into Feynman diagram technique, which is a standard physical tool to write perturbative expansions of path integrals near a critical point of the action. I start from a rigorous treatment of a finite dimensional case (which actually belongs more to multivariable calculus than …

In a densely populated city like Dhaka (Bangladesh), a growing number of high-rise buildings is an inevitable reality. However, they pose mental health risks for citizens in terms of detachment from natural light, sky view, greenery, and environmental landscapes. The housing economy and rent structure in different area…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity in the environment. The robot processes LiDAR scans via the trained network to n…

We show that the residue density of the logarithm of a generalised Laplacian on a closed manifold defines an invariant polynomial valued differential form. We express it in terms of a finite sum of residues of classical pseudodifferential symbols. In the case of the square of a Dirac operator, these formulae provide a …

As video camera deployments continue to grow, the need to process large volumes of real-time data strains wide area network infrastructure. When per-camera bandwidth is limited, it is infeasible for applications such as traffic monitoring and pedestrian tracking to offload high-quality video streams to a datacenter. Th…

Threshold tests have recently been proposed as a useful method for detecting bias in lending, hiring, and policing decisions. For example, in the case of credit extensions, these tests aim to estimate the bar for granting loans to white and minority applicants, with a higher inferred threshold for minorities indicative…

For the pedestrian observer, financial markets look completely random with erratic and uncontrollable behavior. To a large extend, this is correct. At first approximation the difference between real price changes and the random walk model is too small to be detected using traditional time series analysis. However, we s…

DIVE learns video representations even with missing data.

This work examines the role of reinforcement learning in reducing the severity of on-road collisions by controlling velocity and steering in situations in which contact is imminent. We construct a model, given camera images as input, that is capable of learning and predicting the dynamics of obstacles, cars and pedestr…

While deep learning is remarkably successful on perceptual tasks, it was also shown to be vulnerable to adversarial perturbations of the input. These perturbations denote noise added to the input that was generated specifically to fool the system while being quasi-imperceptible for humans. More severely, there even exi…