Trajectory analysis and prediction for improved pedestrian safety: Integrated framework and evaluations

Andreas Møgelmose, M. Trivedi, T. Moeslund
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引用次数: 61

Abstract

This paper presents a monocular and purely vision based pedestrian trajectory tracking and prediction framework with integrated map-based hazard inference. In Advanced Driver Assistance systems research, a lot of effort has been put into pedestrian detection over the last decade, and several pedestrian detection systems are indeed showing impressive results. Considerably less effort has been put into processing the detections further. We present a tracking system for pedestrians, which based on detection bounding boxes tracks pedestrians and is able to predict their positions in the near future. The tracking system is combined with a module which, based on the car's GPS position acquires a map and uses the road information in the map to know where the car can drive. Then the system warns the driver about pedestrians at risk, by combining the information about hazardous areas for pedestrians with a probabilistic position prediction for all observed pedestrians.
改善行人安全的轨迹分析和预测:综合框架和评估
本文提出了一种单目纯视觉行人轨迹跟踪与预测框架,并结合了基于地图的危险推理。在高级驾驶辅助系统的研究中,在过去的十年中,行人检测已经投入了大量的精力,并且一些行人检测系统确实显示出令人印象深刻的结果。进一步处理这些探测结果的努力要少得多。我们提出了一种行人跟踪系统,该系统基于检测边界盒跟踪行人,并能够预测他们在不久的将来的位置。跟踪系统与一个模块相结合,该模块根据汽车的GPS位置获取地图,并使用地图中的道路信息来知道汽车可以在哪里行驶。然后,系统通过将行人危险区域的信息与所有观察到的行人的概率位置预测相结合,警告驾驶员行人有危险。
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