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FuSSI-Net: Fusion of Spatio-temporal Skeletons for Intention Prediction Network by Piccoli, Francesco; Balakrishnan, Rajarathnam; Perez, Maria Jesus; Sachdeo, Moraldeepsingh; Nunez, Carlos; Tang, Matthew; Andreasson, Kajsa; Bjurek, Kalle; Raj, Ria Dass; Davidsson, Ebba; Eriksson, Colin; Hagman, Victor; Sjoberg, Jonas; Li, Ying; Muppirisetty, L. Srikar; Roychowdhury, Sohini is a scholarly article available to read on EtoBox.

What is FuSSI-Net: Fusion of Spatio-temporal Skeletons for Intention Prediction Network about?

Pedestrian intention recognition is very important to develop robust and safe autonomous driving (AD) and advanced driver assistance systems (ADAS) functionalities for urban driving. In this work, we develop an end-to-end pedestrian intention framework that performs well on day- and night- time scenarios. Our framework relies on objection detection bounding boxes combined with skeletal features of human pose. We study early, late, and combined (early and late) fusion mechanisms to exploit the skeletal features and reduce false positives as well to improve the intention prediction performance. The early fusion mechanism results in AP of 0.89 and precision/recall of 0.79/0.89 for pedestrian intention classification. Furthermore, we propose three new metrics to properly evaluate the pedestrian intention systems. Under these new evaluation metrics for the intention prediction, the proposed end-to-end network offers accurate pedestrian intention up to half a second ahead of the actual risky maneuver.

Author

Piccoli, Francesco; Balakrishnan, Rajarathnam; Perez, Maria Jesus; Sachdeo, Moraldeepsingh; Nunez, Carlos; Tang, Matthew; Andreasson, Kajsa; Bjurek, Kalle; Raj, Ria Dass; Davidsson, Ebba; Eriksson, Colin; Hagman, Victor; Sjoberg, Jonas; Li, Ying; Muppirisetty, L. Srikar; Roychowdhury, Sohini

Published

2020

Language

EN