NDLI: Probability estimation for pedestrian crossing intention at signalized crosswalks

Content Provider	IEEE Xplore Digital Library
Author	Hashimoto, Y. Gu, Y. Hsu, L.-T. Kamijo, S.
Copyright Year	2015
Description	Author affiliation: Graduate School of Information Science and Technology The University of Tokyo, Tokyo, Japan (Hashimoto, Y.) \|\| Institute of Industrial Science The University of Tokyo, Tokyo, Japan (Gu, Y.; Hsu, L.-T.; Kamijo, S.)
Abstract	With the rapid development of the techniques for autonomous driving and ADAS in the last decade, more advanced methods to understand pedestrian behavior are required. Crosswalks at intersections are the one of most hazardous where many accidents between turning-vehicles and pedestrians occur. In this paper, we present a method for estimating the pedestrian’s intention to cross a signalized crosswalk or stop in front of it. The intention is crucial to not only the collision avoidance but also smooth traffic in the context of autonomous driving by reducing unnecessary risk margins. Regarding the behavioral flow of pedestrian: assessment, decision-making and physical movement, as a stochastic process, we construct a probabilistic model with the Dynamic Bayesian Network. It takes account of not only pedestrian physical states but also contextual information and integrates the relationship among them. By employing the particle filter as a Bayesian filtering framework, the model estimates the pedestrian state from signal information and pedestrian position measurements. Evaluation using experimental data collected in real traffic scene shows that the proposed model has an ability to detect the pedestrian intention to cross a crosswalk even when he/she is far from it.
Starting Page	114
Ending Page	119
File Size	1399477
Page Count	6
File Format	PDF
e-ISBN	9781467391146
DOI	10.1109/ICVES.2015.7396904
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Decision making Position measurement Bayes methods Safety Vehicle dynamics Vehicles
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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