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

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

doi:10.15607/rss.2012.viii.018

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 proceeding › Conference contribution

30 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Robotics
Subtitle of host publication	Science and Systems VIII
Editors	Paul Newman, Nicholas Roy, Siddhartha Srinivasa
Publisher	MIT Press Journals
Pages	137-144
Number of pages	8
ISBN (Print)	9780262519687
DOIs	https://doi.org/10.15607/rss.2012.viii.018
Publication status	Published - 2013
Externally published	Yes
Event	International Conference on Robotics Science and Systems, RSS 2012 - Sydney, Australia Duration: Jul 9 2012 → Jul 13 2012

Publication series

Name	Robotics: Science and Systems
Volume	8
ISSN (Electronic)	2330-765X

Conference

Conference	International Conference on Robotics Science and Systems, RSS 2012
Country/Territory	Australia
City	Sydney
Period	7/9/12 → 7/13/12

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.15607/rss.2012.viii.018

Cite this

Modeling and prediction of pedestrian behavior based on the sub-goal concept. / Ikeda, Tetsushi; Chigodo, Yoshihiro; Rea, Daniel et al.
Robotics: Science and Systems VIII. ed. / Paul Newman; Nicholas Roy; Siddhartha Srinivasa. MIT Press Journals, 2013. p. 137-144 (Robotics: Science and Systems; Vol. 8).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ikeda, T, Chigodo, Y, Rea, D, Zanlungo, F, Shiomi, M & Kanda, T 2013, Modeling and prediction of pedestrian behavior based on the sub-goal concept. in P Newman, N Roy & S Srinivasa (eds), Robotics: Science and Systems VIII. Robotics: Science and Systems, vol. 8, MIT Press Journals, pp. 137-144, International Conference on Robotics Science and Systems, RSS 2012, Sydney, Australia, 7/9/12. https://doi.org/10.15607/rss.2012.viii.018

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abstract = "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.",

author = "Tetsushi Ikeda and Yoshihiro Chigodo and Daniel Rea and Francesco Zanlungo and Masahiro Shiomi and Takayuki Kanda",

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AB - 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.

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

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