Bayesian Human Motion Intentionality Prediction in urban environments
نویسندگان
چکیده
Human motion prediction in indoor and outdoor scenarios is a key issue towards human robot interaction and intelligent robot navigation in general. In the present work, we propose a new human motion intentionality indicator, denominated Bayesian Human Motion Intentionality Prediction (BHMIP), which is a geometric-based long-term predictor. Two variants of the Bayesian approach are proposed, the Sliding Window BHMIP and the Time Decay BHMIP. The main advantages of the proposed methods are: a simple formulation, easily scalable, portability to unknown environments with small learning effort, low computational complexity, and they outperform other state of the art approaches. The system only requires training to obtain the set of destinations, which are salient positions people normally walk to, that configure a scene. A comparison of the BHMIP is done with other well known methods for long-term prediction using the Edinburgh Informatics Forum pedestrian database and the Freiburg People Tracker database.
منابع مشابه
List of changes of the article “ Bayesian human motion intentionality prediction in urban environments ”
Human motion prediction in indoor and outdoor scenarios is a key issue towards human robot interaction and intelligent robot navigation in general. In the present work, we propose a new human motion intentionality indicator, denominated Bayesian Human Motion Intentionality Prediction (BHMIP), which is a geometric-based long-term predictor. Two variants of the Bayesian approach are proposed, the...
متن کاملSteps Towards Safe Navigation in Open and Dynamic Environments
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art. Bassically, these problems can be classified into three main categories: SLAM in dynamic environments; Detection, characterization, and behavior prediction of the potential moving obstacles; On-line motion p...
متن کاملDesigner Food Webs: From build-it-and-they-will-come to intentionality-in-design
Anthropogenic landscapes provide opportunities for ecologists to deliberately and intentionally design urban food webs. Ecologists working as full, collaborative partners with designers can construct functional food webs for urban environments that benefit society. As a first step, ecologists can learn to partner with designers by translating ecological knowledge at scales relevant to design st...
متن کاملVision-Based Behavior Prediction in Urban Traffic Environments by Scene Categorization
We propose a method for vision-based scene understanding in urban traffic environments that predicts the appropriate behavior of a human driver in a given visual scene. The method relies on a decomposition of the visual scene into its constituent objects by image segmentation and uses segmentation-based features that represent both their identity and spatial properties. We show how the behavior...
متن کاملExplanation of Water Indices and Criteria in the Urban Landscape in Order to Improve the Quality of Urban Environments
Water as one of the most essential natural elements of landscape and consequently urban landscape from yesterday till today has had a great impact on the formation and effectiveness of urban spaces and its various effects have always stimulated human tendency towards beauty. It should be noted that the existential values of water are not merely aesthetic, rather it goes back to the deepest an...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Pattern Recognition Letters
دوره 44 شماره
صفحات -
تاریخ انتشار 2014