# Intend-Wait-Perceive-Cross: Exploring the Effects of Perceptual Limitations on Pedestrian Decision-Making

arXiv: https://arxiv.org/abs/2302.03816 · HTML: https://mlsanity.com/paper/2302.03816/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 7 of its 26 references that are in the map.
- First posted on arXiv 8 Feb 2023.

## Builds on (most cited first, 7 of 7)

- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [Human Motion Trajectory Prediction: A Survey](https://mlsanity.com/paper/1905.06113/) (2019)
- [Autonomous Vehicles that Interact with Pedestrians: A Survey of Theory and Practice](https://mlsanity.com/paper/1805.11773/) (2018)
- [Agreeing to Cross: How Drivers and Pedestrians Communicate](https://mlsanity.com/paper/1702.03555/) (2017)
- [Intend-Wait-Cross: Towards Modeling Realistic Pedestrian Crossing Behavior](https://mlsanity.com/paper/2203.07324/) (2022)

## Abstract (arXiv)

Current research on pedestrian behavior understanding focuses on the dynamics of pedestrians and makes strong assumptions about their perceptual abilities. For instance, it is often presumed that pedestrians have omnidirectional view of the scene around them. In practice, human visual system has a number of limitations, such as restricted field of view (FoV) and range of sensing, which consequently affect decision-making and overall behavior of the pedestrians. By including explicit modeling of pedestrian perception, we can better understand its effect on their decision-making. To this end, we propose an agent-based pedestrian behavior model Intend-Wait-Perceive-Cross with three novel elements: field of vision, working memory, and scanning strategy, all motivated by findings from behavioral literature. Through extensive experimentation we investigate the effects of perceptual limitations on safe crossing decisions and demonstrate how they contribute to detectable changes in pedestrian behaviors.