Pedestrian Environment Model for Automated Driving

Holzbock A, Tsaregorodtsev A, Belagiannis V (2023)

Publication Type: Conference contribution

Publication year: 2023

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 534-540

Conference Proceedings Title: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Event location: Bilbao ES

ISBN: 9798350399462

DOI: 10.1109/ITSC57777.2023.10422032

Abstract

Besides interacting correctly with other vehicles, automated vehicles should also be able to react in a safe manner to vulnerable road users like pedestrians or cyclists. For a safe interaction between pedestrians and automated vehicles, the vehicle must be able to interpret the pedestrian's behavior. Common environment models do not contain information like body poses used to understand the pedestrian's intent. In this work, we propose an environment model that includes the position of the pedestrians as well as their pose information. We only use images from a monocular camera and the vehicle's localization data as input to our pedestrian environment model. We extract the skeletal information with a neural network human pose estimator from the image. Furthermore, we track the skeletons with a simple tracking algorithm based on the Hungarian algorithm and an ego-motion compensation. To obtain the 3D information of the position, we aggregate the data from consecutive frames in conjunction with the vehicle position. We demonstrate our pedestrian environment model on data generated with the CARLA simulator and the nuScenes dataset. Overall, we reach a relative position error of around 16% on both datasets.

Authors with CRIS profile

Vasileios Belagiannis Professur für Maschinelles Lernen in der Signalverarbeitung

Involved external institutions

Universität Ulm DE Germany (DE)

How to cite

APA:

Holzbock, A., Tsaregorodtsev, A., & Belagiannis, V. (2023). Pedestrian Environment Model for Automated Driving. In IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC (pp. 534-540). Bilbao, ES: Institute of Electrical and Electronics Engineers Inc..

MLA:

Holzbock, Adrian, Alexander Tsaregorodtsev, and Vasileios Belagiannis. "Pedestrian Environment Model for Automated Driving." Proceedings of the 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023, Bilbao Institute of Electrical and Electronics Engineers Inc., 2023. 534-540.

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