Moving horizon estimation of pedestrian interactions based on multiple velocity fields

Abstract

This paper describes a model for the interaction between pedestrians in a scene. We consider a recently proposed model for isolated pedestrians in the scene and extend it by adding an interaction term that accounts for attractive/repulsive behaviors among pedestrians. The proposed model combines multiple velocity fields that represent typical motion regimes in the scene and a time-varying interaction term. The estimation of the active velocity field and interaction parameters is achieved by assuming that they remain constant within every instance of an analysis window that slides in time. This strategy is known as the Moving Horizon Estimation (MHE) method. The proposed algorithm is assessed both by using synthetic data and pedestrian trajectories extracted from video streams. © 2013 Springer-Verlag.