# Where Do You Go? Pedestrian Trajectory Prediction using Scene Features

arXiv: https://arxiv.org/abs/2501.13848 · HTML: https://mlsanity.com/paper/2501.13848/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 23 references that are in the map.
- First posted on arXiv 23 Jan 2025.

## Builds on (most cited first, 14 of 14)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentation](https://mlsanity.com/paper/1511.00561/) (2015)
- [Real-ESRGAN: Training Real-World Blind Super-Resolution with Pure Synthetic Data](https://mlsanity.com/paper/2107.10833/) (2021)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [OneFormer: One Transformer to Rule Universal Image Segmentation](https://mlsanity.com/paper/2211.06220/) (2022)
- [Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Prediction](https://mlsanity.com/paper/2002.11927/) (2020)
- [SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraints](https://mlsanity.com/paper/1806.01482/) (2018)
- [A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles](https://mlsanity.com/paper/1604.07446/) (2016)
- [CAT: Cross Attention in Vision Transformer](https://mlsanity.com/paper/2106.05786/) (2021)
- [EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecasting](https://mlsanity.com/paper/2307.09306/) (2023)
- [Pedestrian Trajectory Prediction with Convolutional Neural Networks](https://mlsanity.com/paper/2010.05796/) (2020)
- [Pedestrian Trajectory Prediction in Pedestrian-Vehicle Mixed Environments: A Systematic Review](https://mlsanity.com/paper/2308.06419/) (2023)
- [Detecting 32 Pedestrian Attributes for Autonomous Vehicles](https://mlsanity.com/paper/2012.02647/) (2020)

## Built on by (most cited first, 1 of 1)

- [Training-Free Diffusion Framework for Stylized Image Generation with Identity Preservation](https://mlsanity.com/paper/2506.06802/) (2025)

## Abstract (arXiv)

Accurate prediction of pedestrian trajectories is crucial for enhancing the safety of autonomous vehicles and reducing traffic fatalities involving pedestrians. While numerous studies have focused on modeling interactions among pedestrians to forecast their movements, the influence of environmental factors and scene-object placements has been comparatively underexplored. In this paper, we present a novel trajectory prediction model that integrates both pedestrian interactions and environmental context to improve prediction accuracy. Our approach captures spatial and temporal interactions among pedestrians within a sparse graph framework. To account for pedestrian-scene interactions, we employ advanced image enhancement and semantic segmentation techniques to extract detailed scene features. These scene and interaction features are then fused through a cross-attention mechanism, enabling the model to prioritize relevant environmental factors that influence pedestrian movements. Finally, a temporal convolutional network processes the fused features to predict future pedestrian trajectories. Experimental results demonstrate that our method significantly outperforms existing state-of-the-art approaches, achieving ADE and FDE values of 0.252 and 0.372 meters, respectively, underscoring the importance of incorporating both social interactions and environmental context in pedestrian trajectory prediction.