scholarly journals Trajectory distributions: A new description of movement for trajectory prediction

2021 ◽  
Vol 8 (2) ◽  
pp. 213-224
Author(s):  
Pei Lv ◽  
Hui Wei ◽  
Tianxin Gu ◽  
Yuzhen Zhang ◽  
Xiaoheng Jiang ◽  
...  
Keyword(s):  
Prediction Method ◽  
Autonomous Driving ◽  
Probability Method ◽  
Trajectory Prediction ◽  
Intelligent Robots ◽  
Temporal Features ◽  
Movement Characteristics ◽  
The Social ◽  
Benchmark Datasets ◽  
Spatio Temporal

AbstractTrajectory prediction is a fundamental and challenging task for numerous applications, such as autonomous driving and intelligent robots. Current works typically treat pedestrian trajectories as a series of 2D point coordinates. However, in real scenarios, the trajectory often exhibits randomness, and has its own probability distribution. Inspired by this observation and other movement characteristics of pedestrians, we propose a simple and intuitive movement description called a trajectory distribution, which maps the coordinates of the pedestrian trajectory to a 2D Gaussian distribution in space. Based on this novel description, we develop a new trajectory prediction method, which we call the social probability method. The method combines trajectory distributions and powerful convolutional recurrent neural networks. Both the input and output of our method are trajectory distributions, which provide the recurrent neural network with sufficient spatial and random information about moving pedestrians. Furthermore, the social probability method extracts spatio-temporal features directly from the new movement description to generate robust and accurate predictions. Experiments on public benchmark datasets show the effectiveness of the proposed method.

scholarly journals Residual Invertible Spatio-Temporal Network for Video Super-Resolution

2019 ◽  
Vol 33 ◽  
pp. 5981-5988 ◽  
Author(s):  
Xiaobin Zhu ◽  
Zhuangzi Li ◽  
Xiao-Yu Zhang ◽  
Changsheng Li ◽  
Yaqi Liu ◽  
...  
Keyword(s):  
Spatial Information ◽  
Super Resolution ◽  
Temporal Consistency ◽  
Temporal Network ◽  
Convolutional Network ◽  
Feature Representations ◽  
Video Frames ◽  
Temporal Features ◽  
Benchmark Datasets ◽  
Spatio Temporal

Video super-resolution is a challenging task, which has attracted great attention in research and industry communities. In this paper, we propose a novel end-to-end architecture, called Residual Invertible Spatio-Temporal Network (RISTN) for video super-resolution. The RISTN can sufficiently exploit the spatial information from low-resolution to high-resolution, and effectively models the temporal consistency from consecutive video frames. Compared with existing recurrent convolutional network based approaches, RISTN is much deeper but more efficient. It consists of three major components: In the spatial component, a lightweight residual invertible block is designed to reduce information loss during feature transformation and provide robust feature representations. In the temporal component, a novel recurrent convolutional model with residual dense connections is proposed to construct deeper network and avoid feature degradation. In the reconstruction component, a new fusion method based on the sparse strategy is proposed to integrate the spatial and temporal features. Experiments on public benchmark datasets demonstrate that RISTN outperforms the state-ofthe-art methods.

scholarly journals Road-Aware Trajectory Prediction for Autonomous Driving on Highways

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4703
Author(s):  
Yookhyun Yoon ◽  
Taeyeon Kim ◽  
Ho Lee ◽  
Jahnghyon Park
Keyword(s):  
Deep Learning ◽  
Autonomous Vehicles ◽  
Prediction Method ◽  
Autonomous Driving ◽  
Structural Constraints ◽  
High Definition ◽  
Trajectory Prediction ◽  
The Road ◽  
Road Geometry ◽  
Efficient Learning

For driving safely and comfortably, the long-term trajectory prediction of surrounding vehicles is essential for autonomous vehicles. For handling the uncertain nature of trajectory prediction, deep-learning-based approaches have been proposed previously. An on-road vehicle must obey road geometry, i.e., it should run within the constraint of the road shape. Herein, we present a novel road-aware trajectory prediction method which leverages the use of high-definition maps with a deep learning network. We developed a data-efficient learning framework for the trajectory prediction network in the curvilinear coordinate system of the road and a lane assignment for the surrounding vehicles. Then, we proposed a novel output-constrained sequence-to-sequence trajectory prediction network to incorporate the structural constraints of the road. Our method uses these structural constraints as prior knowledge for the prediction network. It is not only used as an input to the trajectory prediction network, but is also included in the constrained loss function of the maneuver recognition network. Accordingly, the proposed method can predict a feasible and realistic intention of the driver and trajectory. Our method has been evaluated using a real traffic dataset, and the results thus obtained show that it is data-efficient and can predict reasonable trajectories at merging sections.

scholarly journals Multi-Term Attention Networks for Skeleton-Based Action Recognition

2020 ◽  
Vol 10 (15) ◽  
pp. 5326
Author(s):  
Xiaolei Diao ◽  
Xiaoqiang Li ◽  
Chen Huang
Keyword(s):  
Neural Network ◽  
Time Scales ◽  
Action Recognition ◽  
State Of The Art ◽  
Attention Networks ◽  
Weighted Fusion ◽  
Temporal Features ◽  
Benchmark Datasets ◽  
Spatio Temporal ◽  
Different Time Scales

The same action takes different time in different cases. This difference will affect the accuracy of action recognition to a certain extent. We propose an end-to-end deep neural network called “Multi-Term Attention Networks” (MTANs), which solves the above problem by extracting temporal features with different time scales. The network consists of a Multi-Term Attention Recurrent Neural Network (MTA-RNN) and a Spatio-Temporal Convolutional Neural Network (ST-CNN). In MTA-RNN, a method for fusing multi-term temporal features are proposed to extract the temporal dependence of different time scales, and the weighted fusion temporal feature is recalibrated by the attention mechanism. Ablation research proves that this network has powerful spatio-temporal dynamic modeling capabilities for actions with different time scales. We perform extensive experiments on four challenging benchmark datasets, including the NTU RGB+D dataset, UT-Kinect dataset, Northwestern-UCLA dataset, and UWA3DII dataset. Our method achieves better results than the state-of-the-art benchmarks, which demonstrates the effectiveness of MTANs.

scholarly journals Multimodal Interaction-Aware Trajectory Prediction in Crowded Space

2020 ◽  
Vol 34 (07) ◽  
pp. 11982-11989
Author(s):  
Xiaodan Shi ◽  
Xiaowei Shao ◽  
Zipei Fan ◽  
Renhe Jiang ◽  
Haoran Zhang ◽  
...  
Keyword(s):  
Multimodal Interaction ◽  
Autonomous Driving ◽  
Human Motion ◽  
Human Interaction ◽  
Trajectory Prediction ◽  
Motion Patterns ◽  
Mixture Density ◽  
Interacting Agents ◽  
Temporal Model ◽  
Spatio Temporal

Accurate human path forecasting in complex and crowded scenarios is critical for collision avoidance of autonomous driving and social robots navigation. It still remains as a challenging problem because of dynamic human interaction and intrinsic multimodality of human motion. Given the observation, there is a rich set of plausible ways for an agent to walk through the circumstance. To address those issues, we propose a spatio-temporal model that can aggregate the information from socially interacting agents and capture the multimodality of the motion patterns. We use mixture density functions to describe the human path and predict the distribution of future paths with explicit density. To integrate more factors to model interacting people, we further introduce a coordinate transformation to represent the relative motion between people. Extensive experiments over several trajectory prediction benchmarks demonstrate that our method is able to forecast various plausible futures in complex scenarios and achieves state-of-the-art performance.

Location prediction for facility placement by incorporating multi-characteristic information

2021 ◽  
Vol 25 (5) ◽  
pp. 1187-1210
Author(s):  
Pu Wang ◽  
Wei Chen ◽  
Jinjing Huang ◽  
Yuyang Wei ◽  
Junhua Fang ◽  
...  
Keyword(s):  
Location Prediction ◽  
Feature Evaluation ◽  
Temporal Features ◽  
Proposed Model ◽  
The Social ◽  
Efficiency And Effectiveness ◽  
Facility Placement ◽  
Spatio Temporal ◽  
Real World Datasets ◽  
Novel Model

In the course of recommending locations for establishing new facilities on urban planning or commercial programming, the location prediction offers the optimal candidates, which maximizes the number of served customers or minimize customer inconvenience, therefore brings the maximum profits. In most existing studies, only the spatial-temporal features are recognized to evaluate the location popularity, where social relationships of customers, which are significant factors for popularity assessing, have been ignored. Additionally, current researches also fail to take capacities and categories of the facilities into consideration. To overcome the drawbacks, we introduce a novel model of Multi-characteristic Information based Top-k Location Prediction (MITLP), it captures the spatio-temporal behaviors of customers based on historical trajectories, exploits the social relevancy from their friend relationships, as well as examines the category competitiveness of specific facilities thoroughly. Subsequently, by drawing on the feature evaluation and popularity quantization, MITLP will be implemented within a hybrid B-tree-liked recommending framework, Constrained Location and Social-Trajectory Clustered forest (CLSTC-forest), which can not only produce better performance in practice but also address the facility service constraints. Finally, extensive experiments conducted on real-world datasets demonstrate the higher efficiency and effectiveness of the proposed model.

Imaging through Scattering Media with a Learning Based Prior

2020 ◽  
Vol 2020 (14) ◽  
pp. 306-1-306-6
Author(s):  
Florian Schiffers ◽  
Lionel Fiske ◽  
Pablo Ruiz ◽  
Aggelos K. Katsaggelos ◽  
Oliver Cossairt
Keyword(s):  
Optimization Problem ◽  
Autonomous Driving ◽  
Scattering Media ◽  
Photon Scattering ◽  
Point Spread ◽  
Spread Function ◽  
Radiative Transport Equation ◽  
Spatio Temporal ◽  
Transient Imaging

Imaging through scattering media finds applications in diverse fields from biomedicine to autonomous driving. However, interpreting the resulting images is difficult due to blur caused by the scattering of photons within the medium. Transient information, captured with fast temporal sensors, can be used to significantly improve the quality of images acquired in scattering conditions. Photon scattering, within a highly scattering media, is well modeled by the diffusion approximation of the Radiative Transport Equation (RTE). Its solution is easily derived which can be interpreted as a Spatio-Temporal Point Spread Function (STPSF). In this paper, we first discuss the properties of the ST-PSF and subsequently use this knowledge to simulate transient imaging through highly scattering media. We then propose a framework to invert the forward model, which assumes Poisson noise, to recover a noise-free, unblurred image by solving an optimization problem.

scholarly journals Experimental Validation on Intersection Turning Trajectory Prediction Method for Advanced Driver Assistance System Based on Triclothoidal Curve

2021 ◽  
Vol 11 (13) ◽  
pp. 5900
Author(s):  
Yohei Fujinami ◽  
Pongsathorn Raksincharoensak ◽  
Shunsaku Arita ◽  
Rei Kato
Keyword(s):  
Traffic Accidents ◽  
Computational Cost ◽  
Prediction Method ◽  
Smooth Curve ◽  
Assistance System ◽  
Driver Assistance ◽  
Driver Assistance Systems ◽  
Trajectory Prediction ◽  
Left Turn ◽  
Left Hand

Advanced driver assistance systems (ADAS) for crash avoidance, when making a right-turn in left-hand traffic or left-turn in right-hand traffic, are expected to further reduce the number of traffic accidents caused by automobiles. Accurate future trajectory prediction of an ego vehicle for risk prediction is important to activate the assistance system correctly. Our objectives are to propose a trajectory prediction method for ADAS for safe intersection turnings and to evaluate the effectiveness of the proposed prediction method. Our proposed curve generation method is capable of generating a smooth curve without discontinuities in the curvature. By incorporating the curve generation method into the vehicle trajectory prediction, the proposed method could simulate the actual driving path of human drivers at a low computational cost. The curve would be required to define positions, angles, and curvatures at its initial and terminal points. Driving experiments conducted at real city traffic intersections proved that the proposed method could predict the trajectory with a high degree of accuracy for various shapes and sizes of the intersections. This paper also describes a method to determine the terminal conditions of the curve generation method from intersection features. We set a hypothesis where the conditions can be defined individually from intersection geometry. From the hypothesis, a formula to determine the parameter was derived empirically from the driving experiments. Public road driving experiments indicated that the parameters for the trajectory prediction could be appropriately estimated by the obtained empirical formula.

scholarly journals A Two-Layer Switching based Trajectory Prediction Method

2021 ◽  
Author(s):  
Stefan Reisinger ◽  
Daniel Adelberger ◽  
Luigi del Re
Keyword(s):  
Prediction Method ◽  
Trajectory Prediction
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