On-Board Pedestrian Trajectory Prediction Using Behavioral Features

This paper presents a novel approach to pedestrian trajectory prediction for on-board camera systems, which utilizes behavioral features of pedestrians that can be inferred from visual observations. Our proposed method, called BehaviorAware Pedestrian Trajectory Prediction (BA-PTP), processes multiple input modalities, i.e. bounding boxes, body and head orientation of pedestrians as well as their pose, with independent encoding streams. The encodings of each stream are fused using a modality attention mechanism, resulting in a final embedding that is used to predict future bounding boxes in the image. In experiments on two datasets for pedestrian behavior prediction, we demonstrate the benefit of using behavioral features for pedestrian trajectory prediction and evaluate the effectiveness of the proposed encoding strategy. Additionally, we investigate the relevance of different behavioral features on the prediction performance based on an ablation study.