Evaluating Pedestrian Trajectory Prediction Methods With Respect to Autonomous Driving

Nico Uhlemann, Felix Fent, Markus Lienkamp

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

In this paper, we assess the state of the art in pedestrian trajectory prediction within the context of generating single trajectories, a critical aspect aligning with the requirements in autonomous systems. The evaluation is conducted on the widely-used ETH/UCY dataset where the Average Displacement Error (ADE) and the Final Displacement Error (FDE) are reported. Alongside this, we perform an ablation study to investigate the impact of the observed motion history on prediction performance. To evaluate the scalability of each approach when confronted with varying amounts of agents, the inference time of each model is measured. Following a quantitative analysis, the resulting predictions are compared in a qualitative manner, giving insight into the strengths and weaknesses of current approaches. The results demonstrate that although a constant velocity model (CVM) provides a good approximation of the overall dynamics in the majority of cases, additional features need to be incorporated to reflect common pedestrian behavior observed. Therefore, this study presents a data-driven analysis with the intent to guide the future development of pedestrian trajectory prediction algorithms.

Original languageEnglish
Pages (from-to)13937-13946
Number of pages10
JournalIEEE Transactions on Intelligent Transportation Systems
Volume25
Issue number10
DOIs
StatePublished - 2024

Keywords

  • Autonomous vehicles
  • accuracy
  • features
  • pedestrian trajectory prediction
  • runtime

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