{"id":"https://openalex.org/W4391770166","doi":"https://doi.org/10.1109/itsc57777.2023.10422509","title":"Polar Collision Grids: Effective Interaction Modelling for Pedestrian Trajectory Prediction in Shared Space Using Collision Checks","display_name":"Polar Collision Grids: Effective Interaction Modelling for Pedestrian Trajectory Prediction in Shared Space Using Collision Checks","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391770166","doi":"https://doi.org/10.1109/itsc57777.2023.10422509"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015562259","display_name":"Mahsa Golchoubian","orcid":"https://orcid.org/0000-0003-1157-8687"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahsa Golchoubian","raw_affiliation_strings":["University of Waterloo,Department of Systems Design Engineering,Canada","Department of Systems Design Engineering, University of Waterloo, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Systems Design Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019000422","display_name":"Moojan Ghafurian","orcid":"https://orcid.org/0000-0001-5432-4236"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Moojan Ghafurian","raw_affiliation_strings":["University of Waterloo,Department of Electrical and Computer Engineering,Canada","Department of Electrical and Computer Engineering, University of Waterloo, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Electrical and Computer Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059371010","display_name":"Kerstin Dautenhahn","orcid":"https://orcid.org/0000-0002-9263-3897"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kerstin Dautenhahn","raw_affiliation_strings":["University of Waterloo,Department of Electrical and Computer Engineering,Canada","Department of Electrical and Computer Engineering, University of Waterloo, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Electrical and Computer Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033006881","display_name":"Nasser L. Azad","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nasser Lashgarian Azad","raw_affiliation_strings":["University of Waterloo,Department of Systems Design Engineering,Canada","Department of Systems Design Engineering, University of Waterloo, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Waterloo,Department of Systems Design Engineering,Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"791","last_page":"798"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11980","display_name":"Human Mobility and Location-Based Analysis","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.8764680624008179},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8106211423873901},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6872045993804932},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.6676948666572571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.602732241153717},{"id":"https://openalex.org/keywords/polar","display_name":"Polar","score":0.4584400951862335},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42398151755332947},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3621429204940796},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22338581085205078},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16083362698554993},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06377214193344116},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.06177997589111328}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.8764680624008179},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8106211423873901},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6872045993804932},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.6676948666572571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.602732241153717},{"id":"https://openalex.org/C29705727","wikidata":"https://www.wikidata.org/wiki/Q294562","display_name":"Polar","level":2,"score":0.4584400951862335},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42398151755332947},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3621429204940796},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22338581085205078},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16083362698554993},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06377214193344116},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.06177997589111328},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5400000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W924890326","https://openalex.org/W2080326286","https://openalex.org/W2142771835","https://openalex.org/W2424778531","https://openalex.org/W2607296803","https://openalex.org/W2757650457","https://openalex.org/W2766836212","https://openalex.org/W2792764194","https://openalex.org/W2801667201","https://openalex.org/W2903992640","https://openalex.org/W2963001155","https://openalex.org/W2982336172","https://openalex.org/W3009886679","https://openalex.org/W3034589393","https://openalex.org/W3036347242","https://openalex.org/W3093424888","https://openalex.org/W3106199031","https://openalex.org/W3114948913","https://openalex.org/W3116651890","https://openalex.org/W3127110551","https://openalex.org/W3184258555","https://openalex.org/W3202231004","https://openalex.org/W3202756218","https://openalex.org/W3204219722","https://openalex.org/W3204431142","https://openalex.org/W3208370538","https://openalex.org/W4206209964","https://openalex.org/W4210389721","https://openalex.org/W4221153225","https://openalex.org/W4224223585","https://openalex.org/W4384161746","https://openalex.org/W6788767079"],"related_works":["https://openalex.org/W2392100589","https://openalex.org/W2512789322","https://openalex.org/W2101960027","https://openalex.org/W2197846993","https://openalex.org/W2899977359","https://openalex.org/W1819938260","https://openalex.org/W1630669003","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408"],"abstract_inverted_index":{"Predicting":[0],"pedestrians'":[1],"trajectories":[2,181],"is":[3,23,166],"a":[4,66,122,143,170,193],"crucial":[5],"capability":[6],"for":[7,160],"autonomous":[8],"vehicles'":[9],"safe":[10],"navigation,":[11],"especially":[12],"in":[13,20,113],"spaces":[14,22],"shared":[15,21],"with":[16,142],"pedestrians.":[17,33],"Pedestrian":[18],"motion":[19],"influenced":[24],"by":[25,168],"both":[26,37],"the":[27,44,47,53,60,79,86,90,105,108,114,127,148,153,162,184,196],"presence":[28],"of":[29,46,62,82,88,107,125,138,150,157],"vehicles":[30],"and":[31,39,110,152],"other":[32],"Therefore,":[34],"effectively":[35],"modelling":[36],"pedestrian-pedestrian":[38],"pedestrian-vehicle":[40],"interactions":[41,137],"can":[42],"increase":[43],"accuracy":[45],"pedestrian":[48],"trajectory":[49,69],"prediction":[50],"models.":[51],"Despite":[52],"huge":[54],"literature":[55],"on":[56,65,97,131,136,195],"ways":[57],"to":[58,104,183,188],"encode":[59],"effect":[61,106],"interacting":[63,83,128],"agents":[64,129,141,159],"pedestrian's":[67],"predicted":[68,180],"using":[70],"deep-learning":[71],"models,":[72],"limited":[73],"effort":[74],"has":[75],"been":[76],"put":[77],"into":[78],"effective":[80],"selection":[81],"agents.":[84],"In":[85,117],"majority":[87],"cases,":[89],"interaction":[91,115,163],"features":[92],"used":[93],"are":[94],"mainly":[95],"based":[96,130],"relative":[98],"distances":[99],"while":[100],"paying":[101],"less":[102],"attention":[103],"velocity":[109],"approaching":[111],"direction":[112,155],"formulation.":[116],"this":[118],"paper,":[119],"we":[120,146],"propose":[121,147],"heuristic-based":[123],"process":[124],"selecting":[126],"collision":[132,173],"risk":[133],"calculation.":[134],"Focusing":[135],"potentially":[139],"colliding":[140],"target":[144],"pedestrian,":[145],"use":[149],"time-to-collision":[151],"approach":[154],"angle":[156],"two":[158],"encoding":[161],"effect.":[164],"This":[165],"done":[167],"introducing":[169],"novel":[171],"polar":[172],"grid":[174],"map.":[175],"Our":[176],"results":[177],"have":[178],"shown":[179],"closer":[182],"ground":[185],"truth":[186],"compared":[187],"existing":[189],"methods":[190],"(used":[191],"as":[192],"baseline)":[194],"HBS":[197],"dataset.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}