TREP learns pedestrian trajectories efficiently without needing full datasets.
problem Learning fixed-length vector representations of variable-length trajectories.
method Actor-critic sequence-to-sequence autoencoder with spatial-aware objective function.
result TREP efficiently learns trajectory representations without needing full datasets.
This paper compares deep learning and knowledge-based methods for pedestrian trajectory prediction.
problem Predicting pedestrian trajectories in crowded scenes is challenging due to external factors.
method Comprehensive comparison of deep learning and knowledge-based models.
result Deep learning models outperform knowledge-based models in local trajectory prediction.
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…
SafeCritic predicts safe trajectories for pedestrians and cyclists avoiding collisions.
problem Predicting safe trajectories for pedestrians and cyclists in urban environments.
method Generative adversarial networks and reinforcement learning to generate safe trajectories, evaluated by a Discriminator.
result Significant improvement over state-of-the-art models in safety classification.
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 …
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…
This study uses ARM to analyze pedestrian crashes under different lighting conditions.
problem Identifying crash risk factors under varying lighting conditions.
method Applied Association Rules Mining to Louisiana pedestrian crash data.
result Daylight crashes are associated with children, seniors, and older drivers.
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.
problem Challenges in replicating natural pedestrian navigation behavior.
method Reinforcement learning for collision avoidance and path planning.
result Path planning by the agent closely resembles human pedestrian behavior.
A deep learning model improves pedestrian tracking accuracy.
problem Pedestrian tracking accuracy is low, especially with inertial measurement unit.
method Deep learning model using IMU and LIDAR data, attention mechanism.
result Preliminary results show improved accuracy.
Improved pedestrian crossing prediction for AVs using contextual factors.
problem Accurate prediction of pedestrian crossing behavior for autonomous vehicles.
method Factored Latent-Dynamic Conditional Random Fields (FLDCRF) for multi-label sequence prediction and joint interaction modeling.
result Achieved at least 0.9 seconds earlier prediction accuracy for pedestrian crossing behavior compared to existing methods.
The tremendous growth of positioning technologies and GPS enabled devices has produced huge volumes of tracking data during the recent years. This source of information constitutes a rich input for data analytics processes, either offline (e.g. cluster analysis, hot motion discovery) or online (e.g. short-term forecast…
CGNS predicts probabilistic trajectories for safer autonomous systems.
problem Accurate probabilistic trajectory prediction for dynamic obstacles in complex scenarios.
method CGNS combines latent space learning and variational divergence minimization, incorporating static and interaction information with soft attention mechanisms and regularization for soft constraints.
result CGNS outperforms baseline approaches in pedestrian trajectory prediction and naturalistic driving datasets.
PIP-Net predicts pedestrian crossing intentions with up to 4-second lead.
problem Accurate pedestrian intention prediction for autonomous vehicles in real-world scenarios.
method Recurrent and temporal attention-based model using kinematic and spatial features.
result PIP-Net predicts pedestrian crossing intentions up to 4 seconds in advance.
Deep learning agent improves pedestrian navigation in urban environments.
problem Autonomous driving among pedestrians in urban areas.
method Multi-objective deep reinforcement learning using a deep Q-learning variant.
result The multi-objective DQN agent outperforms single-objective DQN in various environments.
Paper introduces a streaming compression method for monitoring pedestrian events on footbridges.
problem Storage and analysis of high-rate sensor data from instrumented infrastructure is computationally challenging.
method Develops a streaming feature-based compression method to preserve key patterns and features of pedestrian events.
result Demonstrates the trade-off between compression and accuracy during and between pedestrian events.
Method learns attractive areas from agent motions to represent environments.
problem Representing environments based on moving agents' nonlinear motions.
method Switching model of velocity fields, parametric representation of attractive spots.
result Dynamic map of attractive areas for online learning.
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…
Can machine learning predict pedestrian destinations from video data?
problem Determining pedestrian destinations from video data without direct observation.
method Used density heatmaps as input to train a Random Forest predictor.
result Motivated further analysis of the methodology.
Study finds object detection systems have higher error rates for darker-skinned pedestrians.
problem Predictive bias in object detection systems for pedestrians with different skin tones.
method Annotated a large dataset and compared performance between skin tone groups, investigating factors like time of day and occlusion.
result Predictive bias in object detection systems is not solely due to more difficult scenes for darker-skinned pedestrians.
Deep RL model optimizes pedestrian evacuation in multi-exit scenarios.
problem Optimizing pedestrian evacuation in multi-exit indoor environments.
method MultiExit-DRL using Deep Reinforcement Learning with DQN and DNN.
result MultiExit-DRL reduces evacuation frames and optimizes exit utilization.
A comparison of SLDS and LSTM for pedestrian behavior prediction shows SLDS works better with shorter sequences.
problem Time-critical pedestrian behavior prediction in autonomous vehicles.
method Comparison of a switching linear dynamical system (SLDS) and a three-layered bi-directional LSTM neural network.
result SLDS achieves higher accuracy with shorter sequences (10 samples) compared to LSTM's 80% accuracy with 100 samples.
Modular method predicts motion in crowded scenes using learned environment models.
problem Predicting motion in dynamic, crowded environments.
method Modular model of spatial and dynamic aspects, unsupervised adaptation to new tasks.
result Comparable performance to state-of-the-art, transferable across tasks.
Paper classifies pedestrians and vehicles detected by LiDAR.
problem Classifying objects from LiDAR data for self-driving cars.
method Used LiDAR-based object detector and Neural Networks classifier.
result Real-time object detection for self-driving vehicles.
New approach learns traffic behavior from unlabelled video.
problem Learning from demonstration in settings with unlabelled raw video data.
method Calibrates camera, detects objects, tracks them, and uses trajectories for LfD.
result Can learn traffic behavior from raw video without additional expert knowledge.
DIVE learns video representations even with missing data.
problem Missing data in video sequences.
method Disentangled Imputed Video autoEncoder (DIVE) with missingness latent variable.
result DIVE outperforms state-of-the-art baselines in imputing and predicting missing video frames.
VectorNet predicts car behavior using vectorized HD maps and agent dynamics.
problem Predicting behavior in multi-agent systems with self-driving cars.
method VectorNet uses hierarchical graph neural networks on vectorized representations of HD maps and agent trajectories.
result VectorNet achieves comparable or better performance than state-of-the-art methods while using fewer parameters and less computational power.
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…
Study quantifies pedestrian traffic patterns in NYC.
problem Understanding pedestrian traffic dynamics in urban areas.
method Publicly available traffic camera data in NYC, time series analysis.
result Pedestrian traffic exhibits diurnal patterns with weekday peaks and no peak on weekends.
Deep Recurrent Q-Network improves autonomous driving in urban areas with pedestrians.
problem Challenges in urban autonomous driving due to complex road structures and unpredictable pedestrian behavior.
method Combines Deep Q-Network with LSTM for long-term memory, designed a 3-D state representation, and uses a reward function.
result The proposed DRQN-based approach outperforms rule-based methods in dense urban scenarios.
This paper explains deep learning for pedestrians using CNNs.
problem Training deep neural networks with gradient descent.
method Backpropagation in Convolutional Neural Networks (CNNs).
result Conceptual clarity in vectorized backpropagation.
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…
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…
GE finds failures in autonomous systems without domain heuristics.
problem Finding failures in autonomous systems without domain-specific heuristics.
method Adaptive stress testing using go-explore (GE) algorithm.
result GE finds failures in scenarios other RL techniques cannot solve.
Edge filters reduce video data transmission to datacenters.
problem Strain on wide area network infrastructure due to video camera deployments.
method FilterForward system with lightweight edge filters and microclassifiers.
result Reduces bandwidth use by an order of magnitude.
Bayesian approach models match and non-match score distributions over continuous covariates.
problem Complex evaluation of model performance over continuous covariates in biometric verification.
method Generative model of score distributions, mixture models, local basis functions, Bayesian inference.
result Accurate and effective method for studying model performance over continuous covariates.
GMM uses mmWave radar to classify traffic modes in poor lighting.
problem Classifying traffic modes in poor lighting conditions.
method GMM on mmWave radar point clouds.
result Good segmentation performance in pedestrian and car classification.
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…
Improved semantic segmentation accuracy by addressing class imbalance.
problem Class imbalance in training data leads to misclassification of rare classes.
method Localized weighting of posterior class probabilities with pixel-wise priors.
result Significant improvement in recall and reduction of non-detection rate for rare classes.
This paper proposes IMU preintegrated features for efficient deep inertial odometry.
problem Efficient odometry from IMU data is challenging due to sensor imperfections and noise.
method Proposes IMU preintegrated features exploiting IMU motion model's manifold structure.
result Improves odometry performance and reduces computational burdens.
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…
Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured urban roadways. Since there are many possible scenarios, manually tackling all po…
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…
Mobile app uses CNN to help visually impaired cross streets.
problem Helping visually impaired cross streets safely.
method LytNetV2 deep learning model for pedestrian traffic light detection.
result 96% classification accuracy and 6.15 degree angle error.
This work improves deep reinforcement learning robustness to adversarial state uncertainty.
problem Robustness of deep reinforcement learning to adversarial state uncertainty.
method Certified adversarial robustness techniques are applied to deep reinforcement learning algorithms to compute guaranteed lower bounds on state-action values.
result The approach increases robustness to noise and adversaries in pedestrian collision avoidance and classic control tasks.
EIM algorithm maximizes information projection for multi-modal data modeling.
problem Challenging task of modeling highly multi-modal data.
method Expected Information Maximization (EIM) algorithm using variational upper bound.
result EIM algorithm efficiently optimizes the I-projection for Gaussian mixtures models.
SDSM extracts statistically significant sub-trajectories from large trajectory datasets.
problem Discerning moving patterns that are more characteristic of one group of trajectories than another.
method Statistically Discriminative Sub-trajectory Mining (SDSM) method using tree representation and permutation-based statistical inference.
result SDSM efficiently extracts statistically significant sub-trajectories from massive trajectory datasets.
New method for robust trajectory classification without parameters.
problem Trajectory classification accuracy and robustness.
method Parameter-free approach to find best trajectory partition and dimension combination.
result Promising preliminary results show improved robustness.