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Attention mechanism based pedestrian trajectory prediction generation model
SUN Yasheng, JIANG Qi, HU Jie, QI Jin, PENG Yinghong
Journal of Computer Applications    2019, 39 (3): 668-674.   DOI: 10.11772/j.issn.1001-9081.2018081645
Abstract2753)      PDF (1160KB)(1342)       Save
Aiming at that Long Short Term Memory (LSTM) has only one pedestrian considered in isolation and cannot realize prediction with various possibilities, an attention mechanism based generative model for pedestrian trajectory prediction called AttenGAN was proposed to construct pedestrian interaction model and predict multiple reasonable possibilities. The proposed model was composed of a generator and a discriminator. The generator predicted multiple possible future trajectories according to pedestrian's past trajectory probability while the discriminator determined whether the trajectories were really existed or generated by the discriminator and gave feedback to the generator, making predicted trajectories obtained conform social norm more. The generator consisted of an encoder and a decoder. With other pedestrians information obtained by the attention mechanism as input, the encoder encoded the trajectories of the pedestrian as an implicit state. Combined with Gaussian noise, the implicit state of LSTM in the encoder was used to initialize the implicit state of LSTM in the decoder and the decoder decoded it into future trajectory prediction. The experiments on ETH and UCY datasets show that AttenGAN can provide multiple reasonable trajectory predictions and can predict the trajectory with higher accuracy compared with Linear, LSTM, S-LSTM (Social LSTM) and S-GAN (Social Generative Adversarial Network) models, especially in scenes of dense pedestrian interaction. Visualization of predicted trajectories obtained by the generator indicated the ability of this model to capture the interaction pattern of pedestrians and jointly predict multiple reasonable possibilities.
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