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

Context Trees: Augmenting Geospatial Trajectories with Context

Exposing latent knowledge in geospatial trajectories has the potential to provide a better understanding of the movements of individuals and groups. Motivated by such a desire, this work presents the context tree, a new hierarchical data structure that summarises the context behind user actions in a single model. We propose a method for context tree construction that augments geospatial trajectories with land usage data to identify such contexts. Through evaluation of the construction method and analysis of the properties of generated context trees, we demonstrate the foundation for understanding and modelling behaviour afforded. Summarising user contexts into a single data structure gives easy access to information that would otherwise remain latent, providing the basis for better understanding and predicting the actions and behaviours of individuals and groups. Finally, we also present a method for pruning context trees, for use in applications where it is desirable to reduce the size of the tree while retaining useful information

Pedestrian Prediction by Planning using Deep Neural Networks

Accurate traffic participant prediction is the prerequisite for collision avoidance of autonomous vehicles. In this work, we predict pedestrians by emulating their own motion planning. From online observations, we infer a mixture density function for possible destinations. We use this result as the goal states of a planning stage that performs motion prediction based on common behavior patterns. The entire system is modeled as one monolithic neural network and trained via inverse reinforcement learning. Experimental validation on real world data shows the system's ability to predict both, destinations and trajectories accurately

Microbial Similarity between Students in a Common Dormitory Environment Reveals the Forensic Potential of Individual Microbial Signatures.

The microbiota of the built environment is an amalgamation of both human and environmental sources. While human sources have been examined within single-family households or in public environments, it is unclear what effect a large number of cohabitating people have on the microbial communities of their shared environment. We sampled the public and private spaces of a college dormitory, disentangling individual microbial signatures and their impact on the microbiota of common spaces. We compared multiple methods for marker gene sequence clustering and found that minimum entropy decomposition (MED) was best able to distinguish between the microbial signatures of different individuals and was able to uncover more discriminative taxa across all taxonomic groups. Further, weighted UniFrac- and random forest-based graph analyses uncovered two distinct spheres of hand- or shoe-associated samples. Using graph-based clustering, we identified spheres of interaction and found that connection between these clusters was enriched for hands, implicating them as a primary means of transmission. In contrast, shoe-associated samples were found to be freely interacting, with individual shoes more connected to each other than to the floors they interact with. Individual interactions were highly dynamic, with groups of samples originating from individuals clustering freely with samples from other individuals, while all floor and shoe samples consistently clustered together.IMPORTANCE Humans leave behind a microbial trail, regardless of intention. This may allow for the identification of individuals based on the "microbial signatures" they shed in built environments. In a shared living environment, these trails intersect, and through interaction with common surfaces may become homogenized, potentially confounding our ability to link individuals to their associated microbiota. We sought to understand the factors that influence the mixing of individual signatures and how best to process sequencing data to best tease apart these signatures