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Modeling Spatial-Temporal Dynamics of Human Movements for Predicting Future Trajectories
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC).ORCID iD: 0000-0002-1170-7162
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (CAS/CVAP/CSC)ORCID iD: 0000-0002-7796-1438
2015 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a novel approach to modeling the dynamics of human movements with a grid-based representation. For each grid cell, we formulate the local dynamics using a variant of the left-to-right HMM, and thus explicitly model the exiting direction from the current cell. The dependency of this process on the entry direction is captured by employing the InputOutput HMM (IOHMM). On a higher level, we introduce the place where the whole trajectory originated into the IOHMM framework forming a hierarchical input structure. Therefore, we manage to capture both local spatial-temporal correlations and the long-term dependency on faraway initiating events, thus enabling the developed model to incorporate more information and to generate more informative predictions of future trajectories. The experimental results in an office corridor environment verify the capabilities of our method.

Place, publisher, year, edition, pages
Association for the advancement of Artificial Intelligence , 2015.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-165817Scopus ID: 2-s2.0-84964690853ISBN: 978-157735720-9 (print)OAI: oai:DiVA.org:kth-165817DiVA: diva2:808848
Conference
Workshop at the Twenty-Ninth AAAI Conference on Artificial Intelligence, "Knowledge, Skill, and Behavior Transfer in Autonomous Robots", AAAI Conference on Artificial Intelligence, Austin, USA, January 25, 2015
Funder
EU, FP7, Seventh Framework Programme
Note

QC 20150506

Available from: 2015-04-29 Created: 2015-04-29 Last updated: 2016-05-25Bibliographically approved

Open Access in DiVA

fulltext(807 kB)60 downloads
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Type fulltextMimetype application/pdf

Scopus

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Jensfelt, PatricFolkesson, John

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CiteExportLink to record
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