8,453 research outputs found
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Trajectory Adaptive Prediction for Moving Objects in Uncertain Environment
The existing methods for trajectory prediction are difficult to describe
trajectory of moving objects in complex and uncertain environment accurately.
In order to solve this problem, this paper proposes an adaptive trajectory
prediction method for moving objects based on variation Gaussian mixture model
(VGMM) in dynamic environment (ESATP). Firstly, based on the traditional
mixture Gaussian model, we use the approximate variational Bayesian inference
method to process the mixture Gaussian distribution in model training
procedure. Secondly, variational Bayesian expectation maximization iterative is
used to learn the model parameters and prior information is used to get a more
precise prediction model. Finally, for the input trajectories, parameter
adaptive selection algorithm is used automatically to adjust the combination of
parameters. Experiment results perform that the ESATP method in the experiment
showed high predictive accuracy, and maintain a high time efficiency. This
model can be used in products of mobile vehicle positioning
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