Higher-order Relational Reasoning for Pedestrian Trajectory Prediction

摘要

Social relations have substantial impacts on the potential trajectories of each individual. Modeling these dynamics has been a central solution for more precise and accurate trajectory forecasting. However previous works ignore the importance of `social depth' meaning the influences flowing from different degrees of social relations. In this work we propose HighGraph a graph-based pedestrian relational reasoning method that captures the higher-order dynamics of social interactions. First we construct a collision-aware relation graph based on the agents' observed trajectories. Upon this graph structure we build our core module that aggregates the agent features from diverse social distances. As a result the network is able to model complex social relations thereby yielding more accurate and socially acceptable trajectories. Our HighGraph is a plug-and-play module that can be easily applied to any current trajectory predictors. Extensive experiments with ETH/UCY and SDD datasets demonstrate that our HighGraph noticeably improves the previous state-of-the-art baselines both quantitatively and qualitatively.