Modeling Taxi Drivers' Behaviour for the Next Destination Prediction

In this paper, we study how to model taxi drivers' behaviour and geographical information for an interesting and challenging task: the next destination prediction in a taxi journey. Predicting the next location is a well studied problem in human mobility, which finds several applications in real-world scenarios, from optimizing the efficiency of electronic dispatching systems to predicting and reducing the traffic jam. This task is normally modeled as a multiclass classification problem, where the goal is to select, among a set of already known locations, the next taxi destination. We present a Recurrent Neural Network (RNN) approach that models the taxi drivers' behaviour and encodes the semantics of visited locations by using geographical information from Location-Based Social Networks (LBSNs). In particular, RNNs are trained to predict the exact coordinates of the next destination, overcoming the problem of producing, in output, a limited set of locations, seen during the training phase. The proposed approach was tested on the ECML/PKDD Discovery Challenge 2015 dataset - based on the city of Porto -, obtaining better results with respect to the competition winner, whilst using less information, and on Manhattan and San Francisco datasets.Comment: preprint version of a paper submitted to IEEE Transactions on Intelligent Transportation System

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

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