4,129 research outputs found
TRiPOD: Human Trajectory and Pose Dynamics Forecasting in the Wild
Joint forecasting of human trajectory and pose dynamics is a fundamental
building block of various applications ranging from robotics and autonomous
driving to surveillance systems. Predicting body dynamics requires capturing
subtle information embedded in the humans' interactions with each other and
with the objects present in the scene. In this paper, we propose a novel
TRajectory and POse Dynamics (nicknamed TRiPOD) method based on graph
attentional networks to model the human-human and human-object interactions
both in the input space and the output space (decoded future output). The model
is supplemented by a message passing interface over the graphs to fuse these
different levels of interactions efficiently. Furthermore, to incorporate a
real-world challenge, we propound to learn an indicator representing whether an
estimated body joint is visible/invisible at each frame, e.g. due to occlusion
or being outside the sensor field of view. Finally, we introduce a new
benchmark for this joint task based on two challenging datasets (PoseTrack and
3DPW) and propose evaluation metrics to measure the effectiveness of
predictions in the global space, even when there are invisible cases of joints.
Our evaluation shows that TRiPOD outperforms all prior work and
state-of-the-art specifically designed for each of the trajectory and pose
forecasting tasks
Forecasting People Trajectories and Head Poses by Jointly Reasoning on Tracklets and Vislets
In this work, we explore the correlation between people trajectories and
their head orientations. We argue that people trajectory and head pose
forecasting can be modelled as a joint problem. Recent approaches on trajectory
forecasting leverage short-term trajectories (aka tracklets) of pedestrians to
predict their future paths. In addition, sociological cues, such as expected
destination or pedestrian interaction, are often combined with tracklets. In
this paper, we propose MiXing-LSTM (MX-LSTM) to capture the interplay between
positions and head orientations (vislets) thanks to a joint unconstrained
optimization of full covariance matrices during the LSTM backpropagation. We
additionally exploit the head orientations as a proxy for the visual attention,
when modeling social interactions. MX-LSTM predicts future pedestrians location
and head pose, increasing the standard capabilities of the current approaches
on long-term trajectory forecasting. Compared to the state-of-the-art, our
approach shows better performances on an extensive set of public benchmarks.
MX-LSTM is particularly effective when people move slowly, i.e. the most
challenging scenario for all other models. The proposed approach also allows
for accurate predictions on a longer time horizon.Comment: Accepted at IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE
INTELLIGENCE 2019. arXiv admin note: text overlap with arXiv:1805.0065
Unified functional network and nonlinear time series analysis for complex systems science: The pyunicorn package
We introduce the \texttt{pyunicorn} (Pythonic unified complex network and
recurrence analysis toolbox) open source software package for applying and
combining modern methods of data analysis and modeling from complex network
theory and nonlinear time series analysis. \texttt{pyunicorn} is a fully
object-oriented and easily parallelizable package written in the language
Python. It allows for the construction of functional networks such as climate
networks in climatology or functional brain networks in neuroscience
representing the structure of statistical interrelationships in large data sets
of time series and, subsequently, investigating this structure using advanced
methods of complex network theory such as measures and models for spatial
networks, networks of interacting networks, node-weighted statistics or network
surrogates. Additionally, \texttt{pyunicorn} provides insights into the
nonlinear dynamics of complex systems as recorded in uni- and multivariate time
series from a non-traditional perspective by means of recurrence quantification
analysis (RQA), recurrence networks, visibility graphs and construction of
surrogate time series. The range of possible applications of the library is
outlined, drawing on several examples mainly from the field of climatology.Comment: 28 pages, 17 figure
A Passenger Flow Risk Forecasting Algorithm for High-Speed Railway Transport Hub Based on Surveillance Sensor Networks
Passenger flow risk forecasting is a vital task for safety management in high-speed railway transport hub. In this paper, we considered the passenger flow risk forecasting problem in high-speed railway transport hub. Based on the surveillance sensor networks, a passenger flow risk forecasting algorithm was developed based on spatial correlation. Computational results showed that the proposed forecasting approach was effective and significant for the high-speed railway transport hub
Traction force microscopy with optimized regularization and automated Bayesian parameter selection for comparing cells
Adherent cells exert traction forces on to their environment, which allows
them to migrate, to maintain tissue integrity, and to form complex
multicellular structures. This traction can be measured in a perturbation-free
manner with traction force microscopy (TFM). In TFM, traction is usually
calculated via the solution of a linear system, which is complicated by
undersampled input data, acquisition noise, and large condition numbers for
some methods. Therefore, standard TFM algorithms either employ data filtering
or regularization. However, these approaches require a manual selection of
filter- or regularization parameters and consequently exhibit a substantial
degree of subjectiveness. This shortcoming is particularly serious when cells
in different conditions are to be compared because optimal noise suppression
needs to be adapted for every situation, which invariably results in systematic
errors. Here, we systematically test the performance of new methods from
computer vision and Bayesian inference for solving the inverse problem in TFM.
We compare two classical schemes, L1- and L2-regularization, with three
previously untested schemes, namely Elastic Net regularization, Proximal
Gradient Lasso, and Proximal Gradient Elastic Net. Overall, we find that
Elastic Net regularization, which combines L1 and L2 regularization,
outperforms all other methods with regard to accuracy of traction
reconstruction. Next, we develop two methods, Bayesian L2 regularization and
Advanced Bayesian L2 regularization, for automatic, optimal L2 regularization.
Using artificial data and experimental data, we show that these methods enable
robust reconstruction of traction without requiring a difficult selection of
regularization parameters specifically for each data set. Thus, Bayesian
methods can mitigate the considerable uncertainty inherent in comparing
cellular traction forces
A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments
This paper reports on a data-driven, interaction-aware motion prediction
approach for pedestrians in environments cluttered with static obstacles. When
navigating in such workspaces shared with humans, robots need accurate motion
predictions of the surrounding pedestrians. Human navigation behavior is mostly
influenced by their surrounding pedestrians and by the static obstacles in
their vicinity. In this paper we introduce a new model based on Long-Short Term
Memory (LSTM) neural networks, which is able to learn human motion behavior
from demonstrated data. To the best of our knowledge, this is the first
approach using LSTMs, that incorporates both static obstacles and surrounding
pedestrians for trajectory forecasting. As part of the model, we introduce a
new way of encoding surrounding pedestrians based on a 1d-grid in polar angle
space. We evaluate the benefit of interaction-aware motion prediction and the
added value of incorporating static obstacles on both simulation and real-world
datasets by comparing with state-of-the-art approaches. The results show, that
our new approach outperforms the other approaches while being very
computationally efficient and that taking into account static obstacles for
motion predictions significantly improves the prediction accuracy, especially
in cluttered environments.Comment: 8 pages, accepted for publication at the IEEE International
Conference on Robotics and Automation (ICRA) 201
A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments
This paper reports on a data-driven, interaction-aware motion prediction
approach for pedestrians in environments cluttered with static obstacles. When
navigating in such workspaces shared with humans, robots need accurate motion
predictions of the surrounding pedestrians. Human navigation behavior is mostly
influenced by their surrounding pedestrians and by the static obstacles in
their vicinity. In this paper we introduce a new model based on Long-Short Term
Memory (LSTM) neural networks, which is able to learn human motion behavior
from demonstrated data. To the best of our knowledge, this is the first
approach using LSTMs, that incorporates both static obstacles and surrounding
pedestrians for trajectory forecasting. As part of the model, we introduce a
new way of encoding surrounding pedestrians based on a 1d-grid in polar angle
space. We evaluate the benefit of interaction-aware motion prediction and the
added value of incorporating static obstacles on both simulation and real-world
datasets by comparing with state-of-the-art approaches. The results show, that
our new approach outperforms the other approaches while being very
computationally efficient and that taking into account static obstacles for
motion predictions significantly improves the prediction accuracy, especially
in cluttered environments.Comment: 8 pages, accepted for publication at the IEEE International
Conference on Robotics and Automation (ICRA) 201
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