IGGCN: Individual-guided graph convolution network for pedestrian trajectory prediction

Abstract

Accurately predicting the future trajectory of pedestrians is crucial for applications such as autonomous driving and robot navigation. Graph convolution is widely used in trajectory prediction tasks due to its scalability and adaptive feature-learning capabilities. However, there are two problems with pedestrian trajectory prediction methods based on graph convolution: 1. Previous methods struggled to adjust social interactions according to the attributes of different pedestrians, making it difficult to accurately model the relative importance between different pedestrians and others; 2. Previous methods lacked dynamic processing of pedestrian spatial-temporal interaction features to capture high-level spatial-temporal interaction features effectively. Therefore, we propose an Individual-Guided Graph Convolution Network (IGGCN) for pedestrian trajectory prediction. To tackle problem 1, we design an individual-guided interaction module that can adjust pedestrian social interaction modeling according to the pedestrian's attributes, thereby achieving an accurate description of the relative importance of pedestrians. We extend the module to temporal interaction modeling to further achieve an accurate description of the relative importance of time frames. To address problem 2, we design a deformable convolution module to dynamically process spatial-temporal interaction features through deformable convolution kernels, facilitating the capture of high-level spatial-temporal interaction features. We evaluate our method on the ETH, UCY, and SDD datasets. Quantitative analysis shows that our method has lower prediction errors than the current state-of-the-art methods. Qualitative analysis further reveals that our method effectively eliminates the influence of irrelevant pedestrians and accurately models the spatial-temporal interaction relationship of pedestrians.