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Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Prediction

arXiv 2002.11927 ↗First posted 27 Feb 2020cs.CVcited by 324

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Abstract (arXiv)

Better machine understanding of pedestrian behaviors enables faster progress in modeling interactions between agents such as autonomous vehicles and humans. Pedestrian trajectories are not only influenced by the pedestrian itself but also by interaction with surrounding objects. Previous methods modeled these interactions by using a variety of aggregation methods that integrate different learned pedestrians states. We propose the Social Spatio-Temporal Graph Convolutional Neural Network (Social-STGCNN), which substitutes the need of aggregation methods by modeling the interactions as a graph. Our results show an improvement over the state of art by 20% on the Final Displacement Error (FDE) and an improvement on the Average Displacement Error (ADE) with 8.5 times less parameters and up to 48 times faster inference speed than previously reported methods. In addition, our model is data efficient, and exceeds previous state of the art on the ADE metric with only 20% of the training data. We propose a kernel function to embed the social interactions between pedestrians within the adjacency matrix. Through qualitative analysis, we show that our model inherited social behaviors that can be expected between pedestrians trajectories. Code is available at https://github.com/abduallahmohamed/Social-STGCNN.

Key facts. Cited by 324 papers in the map (data through 7 Oct 2026). First posted on arXiv 27 Feb 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 56; 2022: 59; 2023: 55; 2024: 63; 2025: 60; 2026: 31.

324 papers.

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  1. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 184
  2. 2021Synthesis of Compositional Animations from Textual Descriptionscited by 177
  3. 2023Spatio-Temporal Graph Neural Networks for Predictive Learning in Urban Computing: A Surveycited by 140
  4. 2023Leapfrog Diffusion Model for Stochastic Trajectory Predictioncited by 129
  5. 2022GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoningcited by 128
  6. 2022Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videoscited by 110
  7. 2022HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encodingcited by 109
  8. 2021Mutual Graph Learning for Camouflaged Object Detectioncited by 103
  9. 2021SGCN:Sparse Graph Convolution Network for Pedestrian Trajectory Predictioncited by 97
  10. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  11. 2022On Adversarial Robustness of Trajectory Prediction for Autonomous Vehiclescited by 89
  12. 2022Remember Intentions: Retrospective-Memory-based Trajectory Predictioncited by 86
38 more
  1. 2022M2I: From Factored Marginal Trajectory Prediction to Interactive Predictioncited by 81
  2. 2022A Survey on Graph Representation Learning Methodscited by 66
  3. 2022Human Trajectory Prediction via Neural Social Physicscited by 66
  4. 2021Multi-Person 3D Motion Prediction with Multi-Range Transformerscited by 63
  5. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  6. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  7. 2022A Survey on Graph Neural Networks and Graph Transformers in Computer Vision: A Task-Oriented Perspectivecited by 56
  8. 2023Graph-based Topology Reasoning for Driving Scenescited by 53
  9. 2021TRiPOD: Human Trajectory and Pose Dynamics Forecasting in the Wildcited by 52
  10. 2022Adaptive Trajectory Prediction via Transferable GNNcited by 51
  11. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  12. 2023Uncovering the Missing Pattern: Unified Framework Towards Trajectory Imputation and Predictioncited by 47
  13. 2021Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesiscited by 46
  14. 2022Non-Probability Sampling Network for Stochastic Human Trajectory Predictioncited by 46
  15. 2021Interpretable Social Anchors for Human Trajectory Forecasting in Crowdscited by 44
  16. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 44
  17. 2022Learning Pedestrian Group Representations for Multi-modal Trajectory Predictioncited by 44
  18. 2021Human Trajectory Prediction via Counterfactual Analysiscited by 42
  19. 2023EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecastingcited by 41
  20. 2022Social-Implicit: Rethinking Trajectory Prediction Evaluation and The Effectiveness of Implicit Maximum Likelihood Estimationcited by 40
  21. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  22. 2021RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecastingcited by 36
  23. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  24. 2022Graph-based Spatial Transformer with Memory Replay for Multi-future Pedestrian Trajectory Predictioncited by 36
  25. 2024SingularTrajectory: Universal Trajectory Predictor Using Diffusion Modelcited by 35
  26. 2022Learning Optical Flow with Adaptive Graph Reasoningcited by 33
  27. 2021Are socially-aware trajectory prediction models really socially-aware?cited by 32
  28. 2022SSL-Lanes: Self-Supervised Learning for Motion Forecasting in Autonomous Drivingcited by 31
  29. 2023FEND: A Future Enhanced Distribution-Aware Contrastive Learning Framework for Long-tail Trajectory Predictioncited by 31
  30. 2024Can Language Beat Numerical Regression? Language-Based Multimodal Trajectory Predictioncited by 31
  31. 2021Personalized Trajectory Prediction via Distribution Discriminationcited by 30
  32. 2021Review of Pedestrian Trajectory Prediction Methods: Comparing Deep Learning and Knowledge-based Approachescited by 30
  33. 2022Behavioral Intention Prediction in Driving Scenes: A Surveycited by 30
  34. 2021A Hierarchical Spatio-Temporal Graph Convolutional Neural Network for Anomaly Detection in Videoscited by 28
  35. 2022Goal-driven Self-Attentive Recurrent Networks for Trajectory Predictioncited by 28
  36. 2022Dynamic-Group-Aware Networks for Multi-Agent Trajectory Prediction with Relational Reasoningcited by 28
  37. 2022Graph Neural Networks in IoT: A Surveycited by 27
  38. 2023Fast Inference and Update of Probabilistic Density Estimation on Trajectory Predictioncited by 27

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