Predicting Pedestrian Crossing Intention With Feature Fusion and Spatio-Temporal Attention

Predicting vulnerableroad user behavior is an essential prerequisite for deploying Automated Driving Systems (ADS) in the real-world. Pedestrian crossing intention should be recognized in real-time, especially for urban driving. Recent works have shown the potential of using vision-based deep neural network models for this task. However, these models are not robust and certain issues still need to be resolved. First, the global spatio-temporal context that accounts for the interaction between the target pedestrian and the scene has not been properly utilized. Second, the optimal strategy for fusing different sensor data has not been thoroughly investigated. This work addresses the above limitations by introducing a novel neural network architecture to fuse inherently different spatio-temporal features for pedestrian crossing intention prediction. We fuse different phenomena such as sequences of RGB imagery, semantic segmentation masks, and ego-vehicle speed in an optimal way using attention mechanisms and a stack of recurrent neural networks. The optimal architecture was obtained through exhaustive ablation and comparison studies. Extensive comparative experiments on the JAAD and PIE pedestrian action prediction benchmarks demonstrate the effectiveness of the proposed method, where state-of-the-art performance was achieved. Our code is open-source and publicly available: https://github.com/OSU-Haolin/Pedestrian_Crossing_Intention_Prediction .