{"id":"https://openalex.org/W3008700642","doi":"https://doi.org/10.1109/lra.2020.2976305","title":"Spatiotemporal Relationship Reasoning for Pedestrian Intent Prediction","display_name":"Spatiotemporal Relationship Reasoning for Pedestrian Intent Prediction","publication_year":2020,"publication_date":"2020-02-26","ids":{"openalex":"https://openalex.org/W3008700642","doi":"https://doi.org/10.1109/lra.2020.2976305","mag":"3008700642"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2976305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2976305","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","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/A5007869267","display_name":"Bingbin Liu","orcid":"https://orcid.org/0000-0002-6621-0356"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bingbin Liu","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015355317","display_name":"Ehsan Adeli","orcid":"https://orcid.org/0000-0002-0579-7763"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ehsan Adeli","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0002-0579-7763","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010800424","display_name":"Zhangjie Cao","orcid":"https://orcid.org/0000-0001-5098-2194"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhangjie Cao","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103235511","display_name":"Kuan-Hui Lee","orcid":"https://orcid.org/0000-0001-5109-4797"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kuan-Hui Lee","raw_affiliation_strings":["Toyota Research Institute, Los Altos, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059130905","display_name":"Abhijeet Shenoi","orcid":"https://orcid.org/0000-0002-6201-0496"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abhijeet Shenoi","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0002-6201-0496","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075018873","display_name":"Adrien Gaidon","orcid":"https://orcid.org/0000-0001-8820-550X"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adrien Gaidon","raw_affiliation_strings":["Toyota Research Institute, Los Altos, USA"],"raw_orcid":"https://orcid.org/0000-0001-8820-550X","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018518655","display_name":"Juan Carlos Niebles","orcid":"https://orcid.org/0000-0001-8225-9793"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Carlos Niebles","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0001-8225-9793","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.8051,"has_fulltext":false,"cited_by_count":187,"citation_normalized_percentile":{"value":0.98622634,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"3485","last_page":"3492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.810530424118042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7586339116096497},{"id":"https://openalex.org/keywords/visual-reasoning","display_name":"Visual reasoning","score":0.6960777640342712},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6265299320220947},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.5898778438568115},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.579699695110321},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5394030809402466},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4923785924911499},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4485260546207428},{"id":"https://openalex.org/keywords/pedestrian-crossing","display_name":"Pedestrian crossing","score":0.4206065535545349},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4182763695716858},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33056384325027466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26206648349761963},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12345784902572632}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.810530424118042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7586339116096497},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.6960777640342712},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6265299320220947},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.5898778438568115},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.579699695110321},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5394030809402466},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4923785924911499},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4485260546207428},{"id":"https://openalex.org/C2777819797","wikidata":"https://www.wikidata.org/wiki/Q8010","display_name":"Pedestrian crossing","level":3,"score":0.4206065535545349},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4182763695716858},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33056384325027466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26206648349761963},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12345784902572632},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2976305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2976305","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W42560795","https://openalex.org/W626667024","https://openalex.org/W639708223","https://openalex.org/W1861492603","https://openalex.org/W2004815690","https://openalex.org/W2033547469","https://openalex.org/W2054911734","https://openalex.org/W2101415982","https://openalex.org/W2115579991","https://openalex.org/W2209193152","https://openalex.org/W2415953079","https://openalex.org/W2424778531","https://openalex.org/W2507009361","https://openalex.org/W2559085405","https://openalex.org/W2565330852","https://openalex.org/W2603203130","https://openalex.org/W2610165754","https://openalex.org/W2613718673","https://openalex.org/W2626967530","https://openalex.org/W2770804203","https://openalex.org/W2771583656","https://openalex.org/W2781228439","https://openalex.org/W2796347433","https://openalex.org/W2799059904","https://openalex.org/W2799199435","https://openalex.org/W2799352588","https://openalex.org/W2809739523","https://openalex.org/W2883363148","https://openalex.org/W2883770893","https://openalex.org/W2889737406","https://openalex.org/W2896540732","https://openalex.org/W2899887572","https://openalex.org/W2902499724","https://openalex.org/W2910375409","https://openalex.org/W2962687116","https://openalex.org/W2963351448","https://openalex.org/W2963570630","https://openalex.org/W2963681621","https://openalex.org/W2963737762","https://openalex.org/W2964015378","https://openalex.org/W2991484432","https://openalex.org/W3025086266","https://openalex.org/W3035574168","https://openalex.org/W4293584584","https://openalex.org/W4297813064","https://openalex.org/W6639102338","https://openalex.org/W6724944384","https://openalex.org/W6726873649","https://openalex.org/W6739651123","https://openalex.org/W6750227808","https://openalex.org/W6750749703","https://openalex.org/W6752289221","https://openalex.org/W6755936324","https://openalex.org/W6756512664","https://openalex.org/W6760782946","https://openalex.org/W6770594649"],"related_works":["https://openalex.org/W187110833","https://openalex.org/W122740207","https://openalex.org/W4388221821","https://openalex.org/W650967530","https://openalex.org/W2164690004","https://openalex.org/W2047776971","https://openalex.org/W1486225309","https://openalex.org/W2094698213","https://openalex.org/W4206403607","https://openalex.org/W842416910"],"abstract_inverted_index":{"Reasoning":[0],"over":[1,47],"visual":[2],"data":[3,49],"is":[4,87,113,187],"a":[5,65,153],"desirable":[6],"capability":[7],"for":[8,36,79,119,158,208,237],"robotics":[9],"and":[10,50,96,125,139,146,177,203,228,240],"vision-based":[11],"applications.":[12],"Such":[13],"reasoning":[14,80],"enables":[15],"forecasting":[16],"the":[17,43,52,58,73,77,104,111,130,141,167,191,194,220,238],"next":[18],"events":[19],"or":[20,38,109],"actions":[21],"in":[22,57,76,161],"videos.":[23],"In":[24,60,149],"recent":[25],"years,":[26],"various":[27],"models":[28],"have":[29],"been":[30],"developed":[31],"based":[32,67],"on":[33,68,89,175,201,205],"convolution":[34,70],"operations":[35],"prediction":[37,134],"forecasting,":[39],"but":[40],"they":[41],"lack":[42],"ability":[44],"to":[45,71,122,189,214,233],"reason":[46],"spatiotemporal":[48,74],"infer":[51],"relationships":[53,75],"of":[54,91,107,117,132,193,199],"different":[55,137],"objects":[56],"scene.":[59],"this":[61],"letter,":[62],"we":[63,151],"present":[64],"framework":[66,186],"graph":[69,86,184],"uncover":[72],"scene":[78,85],"about":[81],"pedestrian":[82,165],"intent.":[83],"A":[84],"built":[88],"top":[90],"segmented":[92],"object":[93],"instances":[94],"within":[95,143],"across":[97],"video":[98],"frames.":[99],"Pedestrian":[100],"intent,":[101],"defined":[102],"as":[103],"future":[105],"action":[106],"crossing":[108,222],"not-crossing":[110],"street,":[112],"very":[114],"crucial":[115],"piece":[116],"information":[118],"autonomous":[120],"vehicles":[121],"navigate":[123],"safely":[124],"more":[126],"smoothly.":[127],"We":[128],"approach":[129],"problem":[131],"intent":[133],"from":[135],"two":[136],"perspectives":[138],"anticipate":[140],"intention-to-cross":[142,192],"both":[144],"pedestrian-centric":[145],"location-centric":[147],"scenarios.":[148],"addition,":[150],"introduce":[152],"new":[154],"dataset":[155,180,212,239],"designed":[156],"specifically":[157],"autonomous-driving":[159],"scenarios":[160],"areas":[162],"with":[163,196],"dense":[164],"populations:":[166],"Stanford-TRI":[168],"Intent":[169],"Prediction":[170],"(STIP)":[171],"dataset.":[172],"Our":[173],"experiments":[174],"STIP":[176,202],"another":[178],"benchmark":[179],"show":[181],"that":[182],"our":[183],"modeling":[185],"able":[188],"predict":[190],"pedestrians":[195],"an":[197],"accuracy":[198],"79.10%":[200],"79.28%":[204],"Joint":[206],"Attention":[207],"Autonomous":[209],"Driving":[210],"(JAAD)":[211],"up":[213],"one":[215],"second":[216],"earlier":[217],"than":[218],"when":[219],"actual":[221],"happens.":[223],"These":[224],"results":[225],"outperform":[226],"baseline":[227],"previous":[229],"work.":[230],"Please":[231],"refer":[232],"<uri":[234],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[235],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">http://stip.stanford.edu/</uri>":[236],"code.":[241]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":39},{"year":2023,"cited_by_count":42},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":31},{"year":2020,"cited_by_count":7}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}
