{"id":"https://openalex.org/W4395027643","doi":"https://doi.org/10.1109/tits.2024.3386689","title":"Pedestrian Crossing Intention Prediction Based on Cross-Modal Transformer and Uncertainty-Aware Multi-Task Learning for Autonomous Driving","display_name":"Pedestrian Crossing Intention Prediction Based on Cross-Modal Transformer and Uncertainty-Aware Multi-Task Learning for Autonomous Driving","publication_year":2024,"publication_date":"2024-04-23","ids":{"openalex":"https://openalex.org/W4395027643","doi":"https://doi.org/10.1109/tits.2024.3386689"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3386689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3386689","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Transactions on Intelligent Transportation Systems","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/A5100333930","display_name":"Xiaobo Chen","orcid":"https://orcid.org/0000-0001-9940-1637"},"institutions":[{"id":"https://openalex.org/I83776822","display_name":"Shandong Institute of Business and Technology","ror":"https://ror.org/03rrkrc24","country_code":"CN","type":"education","lineage":["https://openalex.org/I83776822"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaobo Chen","raw_affiliation_strings":["School of Computer Science and Technology, Shandong Technology and Business University, Yantai, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Shandong Technology and Business University, Yantai, China","institution_ids":["https://openalex.org/I83776822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114444513","display_name":"Shilin Zhang","orcid":"https://orcid.org/0009-0000-6196-7635"},"institutions":[{"id":"https://openalex.org/I83776822","display_name":"Shandong Institute of Business and Technology","ror":"https://ror.org/03rrkrc24","country_code":"CN","type":"education","lineage":["https://openalex.org/I83776822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shilin Zhang","raw_affiliation_strings":["School of Computer Science and Technology, Shandong Technology and Business University, Yantai, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Shandong Technology and Business University, Yantai, China","institution_ids":["https://openalex.org/I83776822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100361625","display_name":"Jun Li","orcid":"https://orcid.org/0000-0001-5845-8602"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Li","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100726984","display_name":"Jian Yang","orcid":"https://orcid.org/0000-0003-4800-832X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100333930"],"corresponding_institution_ids":["https://openalex.org/I83776822"],"apc_list":null,"apc_paid":null,"fwci":3.2564,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.92018262,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"25","issue":"9","first_page":"12538","last_page":"12549"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9937999844551086,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.8094958066940308},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.7193023562431335},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.656134307384491},{"id":"https://openalex.org/keywords/pedestrian-crossing","display_name":"Pedestrian crossing","score":0.5539452433586121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5317382216453552},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4445459246635437},{"id":"https://openalex.org/keywords/level-crossing","display_name":"Level crossing","score":0.41349148750305176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3946034610271454},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3905752897262573},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34018564224243164},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.1445717215538025},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14272895455360413},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11718294024467468}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.8094958066940308},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.7193023562431335},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.656134307384491},{"id":"https://openalex.org/C2777819797","wikidata":"https://www.wikidata.org/wiki/Q8010","display_name":"Pedestrian crossing","level":3,"score":0.5539452433586121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5317382216453552},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4445459246635437},{"id":"https://openalex.org/C1975866","wikidata":"https://www.wikidata.org/wiki/Q171448","display_name":"Level crossing","level":2,"score":0.41349148750305176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3946034610271454},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3905752897262573},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34018564224243164},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.1445717215538025},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14272895455360413},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11718294024467468},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3386689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3386689","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5233407577","display_name":null,"funder_award_id":"62376139","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5336214237","display_name":null,"funder_award_id":"61773184","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6059588814","display_name":null,"funder_award_id":"2022XDRH014","funder_id":"https://openalex.org/F4320327070","funder_display_name":"Yantai Science and Technology Bureau"},{"id":"https://openalex.org/G7694608834","display_name":null,"funder_award_id":"ZR2023MF014","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G8600505247","display_name":null,"funder_award_id":"2018YFB2100500","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320327070","display_name":"Yantai Science and Technology Bureau","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W2028875836","https://openalex.org/W2771583656","https://openalex.org/W2960188294","https://openalex.org/W2963076818","https://openalex.org/W2963677766","https://openalex.org/W2963697717","https://openalex.org/W2968684599","https://openalex.org/W2991202763","https://openalex.org/W2991484432","https://openalex.org/W3041397414","https://openalex.org/W3105916256","https://openalex.org/W3110317294","https://openalex.org/W3119170582","https://openalex.org/W3119361198","https://openalex.org/W3159019800","https://openalex.org/W3163583058","https://openalex.org/W3166395208","https://openalex.org/W3186437900","https://openalex.org/W3190699669","https://openalex.org/W3195951281","https://openalex.org/W3198549210","https://openalex.org/W3198892835","https://openalex.org/W3208797976","https://openalex.org/W3214126613","https://openalex.org/W4200247997","https://openalex.org/W4281636751","https://openalex.org/W4285105848","https://openalex.org/W4285307478","https://openalex.org/W4285819379","https://openalex.org/W4287636532","https://openalex.org/W4287778673","https://openalex.org/W4290993757","https://openalex.org/W4292492380","https://openalex.org/W4312311771","https://openalex.org/W4318963850","https://openalex.org/W4320736147","https://openalex.org/W4364305512","https://openalex.org/W4382240287","https://openalex.org/W4383097409","https://openalex.org/W4385245566","https://openalex.org/W4386480187","https://openalex.org/W4386590862","https://openalex.org/W4390874213","https://openalex.org/W6776598532","https://openalex.org/W6784453280","https://openalex.org/W6795091576","https://openalex.org/W6798569234"],"related_works":["https://openalex.org/W187110833","https://openalex.org/W2905794575","https://openalex.org/W122740207","https://openalex.org/W4388221821","https://openalex.org/W650967530","https://openalex.org/W4390813505","https://openalex.org/W1969216335","https://openalex.org/W1486225309","https://openalex.org/W3165055438","https://openalex.org/W4206403607"],"abstract_inverted_index":{"Accurate":[0],"prediction":[1,57],"of":[2,16,34,40],"whether":[3],"pedestrians":[4],"will":[5,195],"cross":[6],"the":[7,27,41,47,80,93,99,115,126,138,160],"street":[8],"is":[9,38,89,171],"prevalently":[10],"recognized":[11],"as":[12,66,119,121,166],"an":[13],"indispensable":[14],"function":[15],"autonomous":[17],"driving":[18],"systems,":[19],"especially":[20],"in":[21,31,189],"urban":[22],"environments.":[23],"How":[24],"to":[25,50,78,91],"utilize":[26],"complementary":[28,83],"information":[29],"present":[30],"different":[32],"types":[33],"data":[35],"(or":[36],"modalities)":[37],"one":[39],"major":[42],"challenges.":[43],"This":[44],"paper":[45],"makes":[46],"first":[48],"attempt":[49],"develop":[51],"a":[52,106,173],"cross-modal":[53,70,76],"transformer-based":[54],"crossing":[55,122],"intention":[56],"model":[58,170],"merely":[59],"using":[60,159],"bounding":[61,117,161],"boxes":[62],"and":[63,75,82,128,144,163,184],"ego-vehicle":[64,164],"speed":[65,165],"input":[67,167],"features.":[68],"The":[69,153,192],"transformer":[71],"can":[72,133],"leverage":[73],"self-attention":[74],"attention":[77],"mine":[79],"modality-specific":[81],"correlation.":[84],"A":[85],"bottleneck":[86],"feature":[87,95],"fusion":[88],"presented":[90],"obtain":[92],"compressed":[94],"representation.":[96],"To":[97,136],"facilitate":[98],"network":[100],"training,":[101],"we":[102],"further":[103],"put":[104],"forward":[105],"novel":[107],"uncertainty-aware":[108],"multi-task":[109],"learning":[110],"method":[111],"that":[112,125,156,179],"jointly":[113],"predicts":[114],"future":[116],"box":[118,162],"well":[120],"action":[123],"such":[124],"commonalities":[127],"differences":[129],"across":[130],"two":[131,150],"tasks":[132],"be":[134,196],"exploited.":[135],"evaluate":[137],"proposed":[139],"method,":[140],"extensive":[141],"comparative":[142],"experiments":[143],"ablation":[145],"studies":[146],"are":[147],"performed":[148],"on":[149,172,181],"benchmark":[151],"datasets.":[152],"results":[154],"demonstrate":[155],"by":[157],"only":[158],"features,":[168],"our":[169],"par":[174],"with":[175],"other":[176],"state-of-the-art":[177],"approaches":[178],"rely":[180],"more":[182],"inputs,":[183],"even":[185],"achieves":[186],"superior":[187],"performance":[188],"most":[190],"cases.":[191],"source":[193],"code":[194],"released":[197],"at":[198],"https://github.com/xbchen82/PedCMT.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}