Pedestrian Motion Prediction: A Graph Based Approach

Garzón Ramos, David Alfredo and Garzón Oviedo, Mario Andrei and Barrientos Cruz, Antonio (2016). Pedestrian Motion Prediction: A Graph Based Approach. In: "RoboCity16 Open Conference on Future Trends in Robotics", May 26 - 27th 2016, Madrid, Spain. ISBN 978-84-608-8452-1. pp. 309-316.

Description

Title: Pedestrian Motion Prediction: A Graph Based Approach
Author/s:
  • Garzón Ramos, David Alfredo
  • Garzón Oviedo, Mario Andrei
  • Barrientos Cruz, Antonio
Item Type: Presentation at Congress or Conference (Article)
Event Title: RoboCity16 Open Conference on Future Trends in Robotics
Event Dates: May 26 - 27th 2016
Event Location: Madrid, Spain
Title of Book: RoboCity16 Open Conference on Future Trends in Robotics
Date: 27 May 2016
ISBN: 978-84-608-8452-1
Subjects:
Freetext Keywords: Pedestrian trajectory prediction, Fast Marching, Graph based prediction
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
UPM's Research Group: Robótica y Cibernética RobCib
Creative Commons Licenses: Recognition

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Abstract

A novel pedestrian motion prediction technique is presented in this paper. Its main achievement regards to none previous observation, any knowledge of pedestrian trajectories nor the existence of possible destinations is required; hence making it useful for autonomous surveillance applications. Prediction only requires initial position of the pedestrian and a 2D representation of the scenario as occupancy grid. First, it uses the Fast Marching Method (FMM) to calculate the pedestrian arrival time for each position in the map and then, the likelihood that the pedestrian reaches those positions is estimated. The technique has been tested with synthetic and real scenarios. In all cases, accurate probability maps as well as their representative graphs were obtained with low computational cost.

Funding Projects

TypeCodeAcronymLeaderTitle
Madrid Regional GovernmentS2013/MIT-2748RoboCity2030-III-CMUnspecifiedRobótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase III
Government of SpainDPI2014- 56985-RPRICAntonio Barrientos CruzProtección Robotizada de Infraestructuras Críticas

More information

Item ID: 41511
DC Identifier: http://oa.upm.es/41511/
OAI Identifier: oai:oa.upm.es:41511
Official URL: http://www.car.upm-csic.es/events/robocity16/
Deposited by: Mario Andrei Garzón Oviedo
Deposited on: 20 Jun 2016 05:41
Last Modified: 18 Aug 2017 10:30
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