Robots That Can See: Leveraging Human Pose for Trajectory Prediction
The proposed Human Scene Transformer observes past human positions, head orientations, and 3D skeletal keypoints using onboard robot sensors to predict their future trajectories. This innovative model not only captures the inherent uncertainty in predicting future human trajectories but also attains state-of-the-art performance on widely recognized prediction benchmarks. Furthermore, it emerged victorious in the prestigious ICCV 2023 challenge for end-to-end Human Trajectory Forecasting. The model's success underscores its effectiveness in handling complex scenarios and advancing the field of trajectory prediction.