行人轨迹预测方法综述

李琳辉; 周彬; 任威威; 连静

doi:10.11959/j.issn.2096-6652.202140

您当前的位置：

首页 >

文章列表页 >

行人轨迹预测方法综述

综述与展望 | 更新时间：2024-06-05

- 行人轨迹预测方法综述
- Review of pedestrian trajectory prediction methods
- 智能科学与技术学报 2021年3卷第4期页码：399-411
- 作者机构：
  
  1. 大连理工大学汽车工程学院，辽宁大连 116024
  2. 大连理工大学工业装备结构分析国家重点实验室，辽宁大连 116024
- 作者简介：
  
  [ "李琳辉（1981- ），男，博士，大连理工大学汽车工程学院副教授，主要研究方向为智能车辆环境感知、规划决策与导航控制等" ]
  [ "周彬（1997- ），男，大连理工大学汽车工程学院硕士生，主要研究方向为智能车辆规划决策、轨迹预测等" ]
  [ "任威威（1996- ），男，大连理工大学汽车工程学院硕士生，主要研究方向为智能车辆规划决策、轨迹预测等" ]
  [ "连静（1980- ），女，博士，大连理工大学汽车工程学院副教授，主要研究方向为新能源汽车智能化、轨迹预测等" ]
- 基金信息：
  
  国家自然科学基金资助项目;The National Natural Science Foundation of China(51775082);国家自然科学基金资助项目;The National Natural Science Foundation of China(61976039);中央高校基本科研业务费专项资金资助项目;The China Fundamental Research Funds for the Central Universities(DUT19LAB36);中央高校基本科研业务费专项资金资助项目;The China Fundamental Research Funds for the Central Universities(DUT20GJ207);大连市科技创新基金资助项目;Science and Technology Innovation Fund of Dalian(2018J12GX061)
- DOI：10.11959/j.issn.2096-6652.202140
  中图分类号： TP520
- 网络出版日期：2021-12，
  
  纸质出版日期：2021-12-15
- 稿件说明：
移动端阅览
李琳辉, 周彬, 任威威, 等. 行人轨迹预测方法综述[J]. 智能科学与技术学报, 2021,3(4):399-411.

Linhui LI, Bin ZHOU, Weiwei REN, et al. Review of pedestrian trajectory prediction methods[J]. Chinese journal of intelligent science and technology, 2021, 3(4): 399-411.
李琳辉, 周彬, 任威威, 等. 行人轨迹预测方法综述[J]. 智能科学与技术学报, 2021,3(4):399-411. DOI： 10.11959/j.issn.2096-6652.202140.

Linhui LI, Bin ZHOU, Weiwei REN, et al. Review of pedestrian trajectory prediction methods[J]. Chinese journal of intelligent science and technology, 2021, 3(4): 399-411. DOI： 10.11959/j.issn.2096-6652.202140.

摘要

随着深度学习技术的突破和大型数据集的提出，行人轨迹预测的准确度已经成为人工智能领域的研究热点之一。主要对行人轨迹预测的技术分类和研究现状进行详细的综述。根据模型建模方式的不同，将现有方法分为基于浅层学习的轨迹预测方法和基于深度学习的轨迹预测方法，分析了每类方法中具有代表性的算法的效果及优缺点，归纳了当前主流的轨迹预测公开数据集，并在数据集中对比了主流轨迹预测方法的性能，最后对轨迹预测技术面临的挑战与发展趋势进行了展望。

Abstract

With the breakthrough of deep learning technology and the proposal of large data sets

the accuracy of pedestrian trajectory prediction has become one of the research hotspots in the field of artificial intelligence.The technical classification and research status of pedestrian trajectory prediction were mainly reviewed.According to the different modeling methods

the existing methods were divided into shallow learning and deep learning based trajectory prediction algorithms

the advantages and disadvantages of representative algorithms in each type of method were analyzed and introduced.Then

the current mainstream public data sets were summarized

and the performance of mainstream trajectory prediction methods based on the data sets was compared.Finally

the challenges faced by the trajectory prediction technology and the development direction of future work were prospected.

关键词

Keywords

references

RUDENKO A , PALMIERI L , HERMAN M , et al . Human motion trajectory prediction:a survey [J ] . The International Journal of Robotics Research , 2020 ( 1 ):027836492091744.

DAI M M , WANG J X , YIN G D , et al . Dynamic output-feedback robust control for vehicle path tracking considering different human drivers’ characteristics [C ] // Proceedings of the 36th Chinese Control Conference . Piscataway:IEEE Press , 2017 : 9407 - 9412 .

MOUSSAID M , PEROZO N , GARNIER S , et al . The walking behaviour of pedestrian social groups and its impact on crowd dynamics [J ] . PLoS ONE , 2010 , 5 ( 4 ): e10047 .

LEFEVRE S , VASQUEZ D , LAUGIER C . A survey on motionprediction and risk assessment for intelligent vehicles [J ] . Robomech Journal , 2014 , 1 ( 1 ): 1 - 14 .

KELLER C G , GAVRILA D M . Will the pedestrian cross? A study onpedestrian path prediction [J ] . IEEE Transactions on Intelligent Transportation Systems , 2014 , 15 ( 2 ): 494 - 506 .

SCHNEIDER N , GAVRILA D M . Pedestrian path prediction with recursive Bayesian filters:a comparative study [C ] // Proceedings of the 35th German Conference on Pattern Recognition . Berlin:Springer Press , 2013 : 174 - 183 .

PAVLOVIC V , REHG J M , MACCORMICK J . Learning switching linear models of human motion [C ] // Proceeding of the Conference and Workshop on Neural Information Processing Systems . New York:Curran Associates Press , 2000 : 981 - 987 .

FOX E B , SUDDERTH E B , JORDAN M , et al . Bayesian nonparametric inference of switching dynamic linear models [J ] . IEEE Transactions on Signal Processing , 2011 , 59 ( 4 ): 1569 - 1585 .

KOOIJ J F P , SCHNEIDER N , FLOHR F , et al . Context-based pedestrian path prediction [C ] // Proceedings of the 13th European Conference on Computer Vision . Berlin:Springer Press , 2014 : 618 - 633 .

HELBING D , MOLNAR P . Social force model for pedestrian dynamics [J ] . Physical Review E , 1995 , 51 ( 5 ): 4282 - 4286 .

BAHDANAU D , CHO K , BENGIO Y . Neural machine translation by jointly learning to align and translate [J ] . Computer Science , 2014 .

ALAHI A , RAMANATHAN V , LI F F . Socially-aware large-scale crowd forecasting [C ] // Proceedings of the 2014 IEEE Conference on Computer Vision and Pattern Recognition . Piscataway:IEEE Press , 2014 : 2211 - 2218 .

YI S , LI H S , WANG X G . Understanding pedestrian behaviors from stationary crowd groups [C ] // Proceedings of 2015 IEEE Conference on Computer Vision and Pattern Recognition . Piscataway:IEEE Press , 2015 : 3488 - 3496 .

GOLI S A , FAR B H , FAPOJUWO A O . Vehicle trajectory prediction with Gaussian process regression in connected vehicle environment [C ] // Proceedings of 2018 IEEE Intelligent Vehicles Symposium . Piscataway:IEEE Press , 2018 : 550 - 555 .

ELLIS D , SOMMERLADE E , REID I . Modelling pedestrian trajectory patterns with Gaussian processes [C ] // Proceedings of 2009 IEEE International Conference on Computer Vision . Piscataway:IEEE Press , 2009 : 1229 - 1234 .

RASMUSSEN C E , WILLIAMS C K I . Gaussian processes for machine learning [M ] . Cambridge : MIT Press , 2005 .

HOCHREITER S , SCHMIDHUBER J . Long short-term memory [J ] . Neural Computation , 1997 , 9 ( 8 ): 1735 - 1780 .

CHUNG J Y , GULCEHRE C , CHO K , et al . Empirical evaluation of gated recurrent neural networks on sequence modeling [J ] . Eprint Arxiv , 2014 .

GRAVES A , JAITLY N . Towards end-to-end speech recognition with recurrent neural networks [C ] // Proceedings of the 31st International Conference on Machine Learning . New York:ACM Press , 2014 : 1764 - 1772 .

CHOROWSKI J , BAHDANAU D , CHO K , et al . End-to-end continuous speech recognition using attention-based Recurrent NN:first results [J ] . arXiv preprint,2014,arXiv:1412 . 1602 .

DONAHUE J , HENDRICKS L A , GUADARRAMA S , et al . Long-term recurrent convolutional networks for visual recognition and description [C ] // Proceedings of 2015 IEEE Conference on Computer Vision and Pattern Recognition . Piscataway:IEEE Press , 2015 : 2625 - 2634 .

WU H , CHEN Z Y , SUN W W , et al . Modeling trajectories with recurrent neural networks [C ] // Proceedings of the 26th International Joint Conference on Artificial Intelligence . Menlo Park:AAAI Press , 2017 : 3083 - 3090 .

KARATZOLOU A , JABLONSKI A , BEIGL M . A Seq2Seq learning approach for modeling semantic trajectories and predicting the next location [C ] // Proceedings of the 26th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems . New York:ACM Press , 2018 : 528 - 531 .

ALAHI A , GOEL K , RAMANATHAN V , et al . Social LSTM:human trajectory prediction in crowded spaces [C ] // Proceedings of 2016 IEEE Conference on Computer Vision and Pattern Recognition . Piscataway:IEEE Press , 2016 : 961 - 971 .

KITANI K M , ZIEBART B D , BAGNELL J A , et al . Activity forecasting [C ] // Proceedings of the 12th European Conference on Computer Vision . Berlin:Springer Press , 2012 : 201 - 214 .

XUE H , HUYNH D Q , REYNOLDS M . SS-LSTM:a hierarchical LSTM model for pedestrian trajectory prediction [C ] // Proceedings of 2018 IEEE Workshop on Applications of Computer Vision . Piscataway:IEEE Press , 2018 : 1186 - 1194 .

GOODFELLOW I J , POUGET-ABADIE J ,, MIRZA M , et al . Generative adversarial nets [C ] // Proceedings of the Conference and Workshop on Neural Information Processing Systems . New York:Curran Associates Press , 2014 : 2672 - 2680 .

KIPF T N , WELLING M . Variational graph auto-encoders [J ] . arXiv preprint,2016,arXiv:1611.07308 .

GUPTA A , JOHNSON J , LI F F , et al . Social GAN:socially acceptable trajectories with generative adversarial networks [C ] // Proceedings of 2018 IEEE Conference on Computer Vision and Pattern Recognition . Piscataway:IEEE Press , 2018 : 2255 - 2264 .

AMIRIAN J , HAYET J B , PETTRE J . Social ways:learning multi-modal distributions of pedestrian trajectories with GANs [J ] . arXiv preprint,2019,arXiv:1904.09507 .

VARSHNEYA D , SRINIVASARAGHAVAN G . Human trajectory prediction using spatially aware deep attention models [J ] . arXiv preprint,2017,arXiv:1705.09436 .

SADEGHIAN A , KOSARAJU V , SADEGHIAN A , et al . Sophie:an attentive GAN for predicting paths compliant to social and physical constraints [C ] // Proceedings of 2019 IEEE Conference on Computer Vision and Pattern Recognition . Piscataway:IEEE Press , 2019 : 1349 - 1358 .

KOSARAJU V , SADEGHIAN A , MARTIN-MARTIN R , et al . Social-BiGAT:multimodal trajectory forecasting using bicycle-GAN and graph attention networks [C ] // Proceedings of the Conference and Workshop on Neural Information Processing Systems . New York:Curran Associates Press , 2019 : 137 - 146 .

CHENG H , YANG W L M Y , SESTER M , et al . Context conditional variational autoencoder for predicting multi-path trajectories in mixed traffic [J ] . arXiv preprint,2020,arXiv:2002.05966 .

YANG B , YAN G , WANG P , et al . TPPO:a novel trajectory predictor with pseudo oracle [J ] . arXiv preprint , 2020 .

LIANG J W , JIANG L , NIEBLES J C , et al . Peeking into the future:predicting future person activities and locations in videos [C ] // Proceedings of 2019 IEEE Conference on Computer Vision and Pattern Recognition . Piscataway:IEEE Press , 2019 : 5725 - 5734 .

SUN J H , JIANG Q H , LU C W . Recursive social behavior graph for trajectory prediction [J ] . arXiv preprint,2020,arXiv:2004.10402 .

LI G H , MULLER M , QIAN G C , et al . DeepGCNs:can GCNs go as deep as CNNs? [C ] // Proceedings of 2019 IEEE International Conference on Computer Vision . Piscataway:IEEE Press , 2019 : 9267 - 9276 .

KIPF T N , WELLING M . Semi-supervised classification with graph convolutional networks [J ] . arXiv preprint,2016,arXiv:1609.02907 .

SCHOLKOPF B , TSUDA K , VERT J , et al . Kernel methods in computational biology [M ] . Cambridge : MIT Press , 2004 .

SCHLICHTKRULL M , KIPF T N , BLOEM P , et al . Modeling relational data with graph convolutional networks [C ] // Proceedings of the European Semantic Web Conference . Berlin:Springer Press , 2018 : 593 - 607 .

BERG R V D , KIPF T N , WELLING M . Graph convolutional matrix completion [J ] . arXiv preprint,2017,arXiv:1706.02263 .

ZHANG L D , SHE Q , GUO P . Stochastic trajectory prediction with social graph network [J ] . arXiv preprint,2019,arXiv:1907.10233 .

YAN S J , XIONG Y J , LIN D H , et al . Spatial temporal graph convolutional networks for skeleton-based action recognition [C ] // Proceedings of the National Conference on Artificial Intelligence . Menlo Park:AAAI Press , 2018 : 7444 - 7452 .

HADDAD S , WU M Q , WEI H , et al . Situation-aware pedestrian trajectory prediction with spatio-temporal attention model [J ] . arXiv preprint,2019,arXiv:1902.05437 .

MOHAMED A , QIAN K , ELHOSEINY M , et al . Social-STGCNN:a social spatio-temporal graph convolutional neural network for human trajectory prediction [J ] . arXiv preprint,2020,arXiv:2002.11927 .

PELLEGRINI S , ESS A , GOOL L V . Improving data association by joint modeling of pedestrian trajectories and groupings [C ] // Proceedings of the 11th European Conference on Computer Vision . Berlin:Springer Press , 2010 : 452 - 465 .

LERNER A , CHRYSANTHOU Y , LISCHINSKI D . Crowds by example [J ] . Computer Graphics Forum , 2007 , 26 ( 3 ): 655 - 664 .

ROBICQUET A , SADEGHIAN A , ALAHI A , et al . Learning social etiquette:human trajectory prediction in crowded scenes [C ] // Proceedings of the 14th European Conference on Computer Vision . Berlin:Springer Press , 2016 : 549 - 565 .

VEMULA A , MUELLING K , OH J . Social attention:modeling attention in human crowds [C ] // Proceedings of 2018 IEEE International Conference on Robotics and Automation . Piscataway:IEEE Press , 2018 : 4601 - 4607 .

HUANG Y F , BI H K , LI Z X , et al . STGAT:Modeling spatial-temporal interactions for human trajectory prediction [C ] // Proceedings of 2019 IEEE International Conference on Computer Vision . Piscataway:IEEE Press , 2019 : 6272 - 6281 .

浏览量

1852

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

移动目标轨迹预测方法研究综述

Cerberus：基于深度学习的跨网站社交机器人检测系统

基于视觉的列车轨道缺陷检测综述

动态环境下基于语义信息与几何约束的视觉SLAM系统

融合音画同步的唇形合成研究