FuSSI-Net: Fusion of Spatio-temporal Skeletons for Intention Prediction Network

Pedestrian intention recognition is very important to develop robust and safe autonomous driving (AD) and advanced driver assistance systems (ADAS) functionalities for urban driving. In this work, we develop an end-to-end pedestrian intention framework that performs well on day- and night- time scen...

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Bibliographic Details
Published in:arXiv.org 2020-05
Main Authors: Piccoli, Francesco, Balakrishnan, Rajarathnam, Maria Jesus Perez, Sachdeo, Moraldeepsingh, Nunez, Carlos, Tang, Matthew, Andreasson, Kajsa, Bjurek, Kalle, Ria Dass Raj, Davidsson, Ebba, Eriksson, Colin, Hagman, Victor, Sjoberg, Jonas, Li, Ying, L Srikar Muppirisetty, Roychowdhury, Sohini
Format: Article
Language:English
Subjects:
Advanced driver assistance systems
Systems analysis
Online Access:Get full text
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Summary:Pedestrian intention recognition is very important to develop robust and safe autonomous driving (AD) and advanced driver assistance systems (ADAS) functionalities for urban driving. In this work, we develop an end-to-end pedestrian intention framework that performs well on day- and night- time scenarios. Our framework relies on objection detection bounding boxes combined with skeletal features of human pose. We study early, late, and combined (early and late) fusion mechanisms to exploit the skeletal features and reduce false positives as well to improve the intention prediction performance. The early fusion mechanism results in AP of 0.89 and precision/recall of 0.79/0.89 for pedestrian intention classification. Furthermore, we propose three new metrics to properly evaluate the pedestrian intention systems. Under these new evaluation metrics for the intention prediction, the proposed end-to-end network offers accurate pedestrian intention up to half a second ahead of the actual risky maneuver.
ISSN:2331-8422