Latest revision as of 19:24, 28 January 2021

Abstract

Driver Assistance Systems have achieved a high level of maturity in the latest years. As an example of that, sophisticated pedestrian protection systems are already available in a number of commercial vehicles from several OEMs. However, accurate pedestrian path prediction is needed in order to go a step further in terms of safety and reliability, since it can make the difference between effective and non-effective intervention. In this paper, we consider the three-dimensional pedestrian body language in order to perform path prediction in a probabilistic framework. For this purpose, the different body parts and joints are detected using stereo vision. We propose the use of GPDM (Gaussian Process Dynamical Models) for reducing the high dimensionality of the input feature vector (composed by joints and displacement vectors) in the 3D pose space and for learning the pedestrian dynamics in a latent space. Experimental results show that accurate path prediction can be achieved at a time horizon of ≈ 0.8 s.

Original document

The different versions of the original document can be found in:

• http://www.isislab.es/sotelo/ieeeIV14_Prediction-FinalVersion.pdf

• http://xplorestaging.ieee.org/ielx7/6848889/6856370/06856498.pdf?arnumber=6856498,

http://dx.doi.org/10.1109/ivs.2014.6856498

• https://dblp.uni-trier.de/db/conf/ivs/ivs2014.html#QuinteroALS14,

https://ieeexplore.ieee.org/document/6856498,

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6856498,

https://academic.microsoft.com/#/detail/2150823086