Abstract
In the development of autonomous driving systems, pedestrian trajectory prediction plays a crucial role. Existing models still face some challenges in capturing the accuracy of complex pedestrian actions in different environments and in handling large-scale data and real-time prediction efficiency. To address this, we have designed a novel Complex Gated Recurrent Unit (CGRU) model, cleverly combining the spatial expressiveness of complex numbers with the efficiency of Gated Recurrent Unit networks to establish a lightweight model. Moreover, we have incorporated a social force model to further develop a Social Complex Gated Recurrent Unit (S-CGRU) model specifically for predicting pedestrian trajectories. To improve computational efficiency, we conducted an in-depth study of the pedestrian’s attention field of view in different environments to optimize the amount of information processed and increase training efficiency. Experimental verification on six public datasets confirms that S-CGRU model significantly outperforms other baseline models not only in prediction accuracy but also in computational efficiency, validating the practical value of our model in pedestrian trajectory prediction.
Z. Xu—First author.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Alahi, A., Goel, K., Ramanathan, V., Robicquet, A., Fei-Fei, L., Savarese, S.: Social LSTM: human trajectory prediction in crowded spaces. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 961–971 (2016)
Deo, N., Trivedi, M.M.: Convolutional social pooling for vehicle trajectory prediction. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, pp. 1468–1476 (2018)
Rudenko, A., Palmieri, L., Herman, M., Kitani, K.M., Gavrila, D.M., Arras, K.O.: Human motion trajectory prediction: a survey. Int. J. Robot. Res. 39(8), 895–935 (2020)
Yue, J., Manocha, D., Wang, H.: Human trajectory prediction via neural social physics. arXiv preprint arXiv:2207.10435 (2022)
Helbing, D., Molnar, P.: Social force model for pedestrian dynamics. Phys. Rev. E 51(5), 4282 (1995)
van den Berg, J., Lin, M., Manocha, D.: Reciprocal velocity obstacles for real-time multi-agent navigation. In: 2008 IEEE International Conference on Robotics and Automation (2008)
He, F., Xia, Y., Zhao, X., Wang, H.: Informative scene decomposition for crowd analysis, comparison and simulation guidance. ACM Transaction on Graphics (TOG) 4(39) (2020) 51(5), 4282 (1995)
Gupta, A., Johnson, J., Fei-Fei, L., Savarese, S., Alahi, A.: Social GAN: socially acceptable trajectories with generative adversarial networks. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 2255–2264 (2018)
Sadeghian, A., Kosaraju, V., Sadeghian, A., Hirose, N., Rezatofighi, H., Savarese, S.: SoPhie: an attentive GAN for predicting paths compliant to social and physical constraints. In: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 1349–1358 (2019)
Mangalam, K., An, Y., Girase, H., Malik, J.: From goals, waypoints & paths to long term human trajectory forecasting. In: Proceedings of the IEEE/CVF International Conference on Computer Vision, pp. 15233–15242 (2021)
Van Toll, W., Pettr’e, J.: Algorithms for microscopic crowd simulation: advancements in the 2010s. Comput. Graph. Forum 40(2), 731–754 (2021)
Wolinski, D., J. Guy, S., Olivier, A.H., Lin, M., Manocha, D., Pettr’e, J.: Parameter estimation and comparative evaluation of crowd simulations. Comput. Graph. Forum 33(2), 303–312 (2014)
He, F., Xia, Y., Zhao, X., Wang, H.: Informative scene decomposition for crowd analysis, comparison and simulation guidance. ACM Trans. Graph. (TOG) 39(4), 50:1–50:13 (2020)
Korbmacher, R., Tordeux, A.: Review of pedestrian trajectory prediction methods: comparing deep learning and knowledge-based approaches. IEEE Trans. Intell. Transp. Syst. 23(12), 24126–24144 (2022)
Bengio, Y., Pal, C.J.: Deep complex networks. In: International Conference on Learning Representations (ICLR) (2018)
Nitta, T.: On the critical points of the complex-valued neural network. In: Neural Information Processing (2002)
Hirose, A., Yoshida, S.: Generalization characteristics of complex-valued feedforward neural networks in relation to signal coherence. IEEE Trans. Neural Netw. Learn. Syst. 23(4), 541–551 (2012)
Arjovsky, M., Shah, A., Bengio, Y.: Unitary evolution recurrent neural networks. arXiv preprint arXiv:1511.06464 (2015)
Danihelka, I., Wayne, G., Uria, B., Kalchbrenner, N., Graves, A.: Associative long short-term memory. arXiv preprint arXiv:1602.03032 (2016)
Wisdom, S., Powers, T., Hershey, J., Roux, J.L., Atlas, L.: Full-capacity unitary recurrent neural networks. In: Advances in Neural Information Processing Systems, pp. 4880–4888 (2016)
Reichert, D.P., Serre, T.: Neuronal synchrony in complex-valued deep networks. arXiv preprint arXiv:1312.6115 (2013)
Srivastava, R.K., Greff, K., Schmidhuber, J.: Training very deep net-works. In: Advances in Neural Information Processing Systems, pp. 2377–2385 (2015)
Cho, K., Van Merriënboer, B., Bahdanau, D., Bengio, Y.: On the properties of neural machine translation: Encoder-decoder approaches. arXiv pre-print arXiv:1409.1259 (2014)
Hochreiter, S., Schmidhuber, J.: Long short-term memory. Neural Comput. 9(8), 1735–1780 (1997)
Kingma, D.P., Ba, J.: Adam: a method for stochastic optimization. In: 3rd International Conference on Learning Representations (2015)
Kipf, T.N., Welling, M.: Semi-supervised classification with graph convolutional networks. In: International Conference on Learning Representations (2017)
Antonini, G., et al.: Discrete choice models of pedestrian walking behavior. Transport. Res. B 40(8), 667–687 (2006)
Bahdanau, D., et al.: Neural machine translation by jointly learning to align and trans-late. In: 3rd International Conference on Learning Representations (2015)
Lerner, A., et al.: Crowds by example. Comput. Graphics Forum. 26, 655–664 (2007)
Helbing, D., Molnár, P.: Social force model for pedestrian dynamics. Phys. Rev. E, Stat. Phys. Plasmas Fluids Relat. Interdiscip. Top. 51(5), 4282 (1995)
Yi, S., Li, H., Wang, X.: Understanding pedestrian behaviors from stationary crowd groups. In: Proceedings of IEEE Conference Computer Vision and Pattern Recognition (CVPR), pp. 3488–3496 (2015)
Xue, H., Huynh, D.Q., Reynolds, M.: SS-LSTM: a hierarchical LSTM model for pedestrian trajectory prediction. In: Proceedings of IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 1186–1194 (2018)
Cho, K., et al.: Learning phrase representations using RNN encoder-decoder for statistical machine translation. In: Proceedings of the 2014 Conference on Empirical Methods in Natural Language Processing (EMNLP) (2014)
Mohamed, A., Qian, K., Elhoseiny, M., Claudel, C.: Social-STGCNN: a social spatio-temporal graph convolutional neural network for human trajectory prediction. In: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (2020)
Robicquet, A., Sadeghian, A., Alahi, A., Savarese, S.: Learning social etiquette: human trajectory understanding in crowded scenes. In: Leibe, B., Matas, J., Sebe, N., Welling, M. (eds.) ECCV 2016. LNCS, vol. 9912, pp. 549–565. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-46484-8_33
Pellegrini, S., Ess, A., Van Gool, L.: Improving data association by joint modeling of pedestrian trajectories and groupings. In: Daniilidis, K., Maragos, P., Paragios, N. (eds.) ECCV 2010. LNCS, vol. 6311, pp. 452–465. Springer, Heidelberg (2010). https://doi.org/10.1007/978-3-642-15549-9_33
Lerner, A., Chrysanthou, Y., Lischinski, D.: Crowds by example. In: Computer graphics forum. vol. 26, pp. 655–664. Wiley Online Library (2007)
Tang, H., Wei, P., Li, J., Zheng, N.: EvoSTGAT: evolving spatio-temporal graph attention networks for pedestrian trajectory prediction. Neurocomputing 491, 333–342 (2022)
Sadeghian, A., Kosaraju, V., Sadeghian, A., Hirose, N., Rezatofighi, H., Savarese, S.: SoPhie: an attentive GAN for predicting paths compliant to social and physical constraints. In: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 1349–1358 (2019)
Danihelka, I., Wayne, G., Uria, B., Kalchbrenner, N., Graves, A.: Associative long short-term memory. In: Proceedings of The 33rd International Conference on Machine Learning (2016)
Acknowledgements
This work is supported by the National Natural Science Foundation of China (61562082), the Joint Funds of the National Natural Science Foundation of China (U1603262), and the “Intelligent Information R &D Cross-disciplinary Project” (Project Number: 202104140010). We thank all anonymous commenters for their constructive comments.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Xu, Z., Yu, Q., Slamu, W., Zhou, Y., Liu, Z. (2024). S-CGRU: An Efficient Model for Pedestrian Trajectory Prediction. In: Luo, B., Cheng, L., Wu, ZG., Li, H., Li, C. (eds) Neural Information Processing. ICONIP 2023. Communications in Computer and Information Science, vol 1964. Springer, Singapore. https://doi.org/10.1007/978-981-99-8141-0_19
Download citation
DOI: https://doi.org/10.1007/978-981-99-8141-0_19
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-8140-3
Online ISBN: 978-981-99-8141-0
eBook Packages: Computer ScienceComputer Science (R0)