Modeling and prediction of pedestrian behavior based on the sub-goal concept

Tetsushi Ikeda, Yoshihiro Chigodo, Daniel Rea, Francesco Zanlungo, Masahiro Shiomi, Takayuki Kanda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

30 Citations (Scopus)


This study addresses a method to predict pedestrians' long term behavior in order to enable a robot to provide them services. In order to do that we want to be able to predict their final goal and the trajectory they will follow to reach it. We attain this task borrowing from human science studies the concept of sub-goals, defined as points and landmarks of the environment towards which pedestrians walk or where they take directional choices before reaching the final destination. We retrieve the position of these sub-goals from the analysis of a large set of pedestrian trajectories in a shopping mall, and model their global behavior through transition probabilities between sub-goals. The method allows us to predict the future position of pedestrians on the basis of the observation of their trajectory up to the moment.1 Keywords-component; pedestrian models; sub-goal retrieval; behavior anticipation.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VIII
EditorsPaul Newman, Nicholas Roy, Siddhartha Srinivasa
PublisherMIT Press Journals
Number of pages8
ISBN (Print)9780262519687
Publication statusPublished - 2013
Externally publishedYes
EventInternational Conference on Robotics Science and Systems, RSS 2012 - Sydney, Australia
Duration: Jul 9 2012Jul 13 2012

Publication series

NameRobotics: Science and Systems
ISSN (Electronic)2330-765X


ConferenceInternational Conference on Robotics Science and Systems, RSS 2012

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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