{"id":"https://openalex.org/W4414538344","doi":"https://doi.org/10.1109/tits.2025.3612879","title":"CENH: Co-Enhancement of Edges and Nodes in Heterogeneous Graph Attention for Pedestrian Crossing Intention Recognition","display_name":"CENH: Co-Enhancement of Edges and Nodes in Heterogeneous Graph Attention for Pedestrian Crossing Intention Recognition","publication_year":2025,"publication_date":"2025-09-26","ids":{"openalex":"https://openalex.org/W4414538344","doi":"https://doi.org/10.1109/tits.2025.3612879"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3612879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3612879","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/A5079024125","display_name":"X.H. Liu","orcid":"https://orcid.org/0009-0002-1075-3834"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingchen Liu","raw_affiliation_strings":["School of Vehicle and Energy, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0002-1075-3834","affiliations":[{"raw_affiliation_string":"School of Vehicle and Energy, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078255726","display_name":"Baicang Guo","orcid":"https://orcid.org/0000-0002-1130-4232"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baicang Guo","raw_affiliation_strings":["School of Vehicle and Energy, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0002-1130-4232","affiliations":[{"raw_affiliation_string":"School of Vehicle and Energy, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043654176","display_name":"Lisheng Jin","orcid":"https://orcid.org/0000-0002-3086-1333"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lisheng Jin","raw_affiliation_strings":["School of Vehicle and Energy, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0002-3086-1333","affiliations":[{"raw_affiliation_string":"School of Vehicle and Energy, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109908925","display_name":"Chong Koo An","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanqiang An","raw_affiliation_strings":["School of Vehicle and Energy, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Energy, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057007252","display_name":"Hongyu Zhang","orcid":"https://orcid.org/0009-0000-4303-441X"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Zhang","raw_affiliation_strings":["School of Vehicle and Energy, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0000-4303-441X","affiliations":[{"raw_affiliation_string":"School of Vehicle and Energy, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006635351","display_name":"G. Li J. Luo","orcid":"https://orcid.org/0000-0002-7652-4850"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guofeng Luo","raw_affiliation_strings":["School of Vehicle and Energy, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0002-7652-4850","affiliations":[{"raw_affiliation_string":"School of Vehicle and Energy, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104287117","display_name":"Zhuotong Han","orcid":"https://orcid.org/0009-0001-9011-0128"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuotong Han","raw_affiliation_strings":["School of Vehicle and Energy, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0001-9011-0128","affiliations":[{"raw_affiliation_string":"School of Vehicle and Energy, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21476662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"27","issue":"4","first_page":"4535","last_page":"4551"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9976999759674072,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9866999983787537,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.777400016784668},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6100999712944031},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6014999747276306},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5317999720573425},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.43810001015663147},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.3650999963283539},{"id":"https://openalex.org/keywords/unification","display_name":"Unification","score":0.3610000014305115}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.777400016784668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7727000117301941},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6100999712944031},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6014999747276306},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5317999720573425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5166000127792358},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.43810001015663147},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.3650999963283539},{"id":"https://openalex.org/C96146094","wikidata":"https://www.wikidata.org/wiki/Q609057","display_name":"Unification","level":2,"score":0.3610000014305115},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3402000069618225},{"id":"https://openalex.org/C2777819797","wikidata":"https://www.wikidata.org/wiki/Q8010","display_name":"Pedestrian crossing","level":3,"score":0.31690001487731934},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3163999915122986},{"id":"https://openalex.org/C161677786","wikidata":"https://www.wikidata.org/wiki/Q2478475","display_name":"Neighbourhood (mathematics)","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2896000146865845},{"id":"https://openalex.org/C2780156472","wikidata":"https://www.wikidata.org/wiki/Q2355550","display_name":"Pedestrian detection","level":3,"score":0.2888000011444092},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2669999897480011},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2655999958515167},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2563000023365021},{"id":"https://openalex.org/C152948882","wikidata":"https://www.wikidata.org/wiki/Q4060686","display_name":"Belief propagation","level":3,"score":0.2542000114917755},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3612879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3612879","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/G1232129373","display_name":null,"funder_award_id":"2023YFB2504400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G2375550858","display_name":null,"funder_award_id":"52202503","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3589347302","display_name":null,"funder_award_id":"F2024203112","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4265828567","display_name":null,"funder_award_id":"52472440","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G812022684","display_name":null,"funder_award_id":"F2025203057","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurately":[0],"considering":[1],"the":[2,5,21,25,43,50,54,59,62,71,87,108,113,122,136,146,151,154,157,172,176,203,216,239],"interactions":[3,77,111,134,174,240],"between":[4,24,56,112,153,175,241],"target":[6,26,114,155,177,242],"pedestrian":[7,100,115,211],"and":[8,19,27,58,91,116,131,156,178,183,218,237,244,253],"surrounding":[9,245],"scene":[10,117,162,246],"elements":[11],"is":[12,195],"crucial.":[13],"It":[14],"helps":[15],"capture":[16],"behavioral":[17],"changes":[18],"understand":[20],"mutual":[22],"influence":[23],"its":[28],"environment.":[29],"This,":[30],"in":[31,37,52,61,78,93,255],"turn,":[32],"plays":[33],"a":[34,142,166,190],"key":[35,199],"role":[36],"enhancing":[38,181],"intention":[39,102],"recognition.":[40,103],"However,":[41],"with":[42,67],"ego-vehicle\u2019s":[44,137],"front-facing":[45],"camera,":[46],"challenges":[47],"arise":[48],"from":[49,135],"difficulty":[51],"quantifying":[53],"distance":[55,152],"objects":[57,66],"variation":[60],"observed":[63],"size":[64],"of":[65,89,110,124,128,133,202],"distance,":[68],"which":[69,205],"limits":[70],"ability":[72],"to":[73,144,170,197,209],"fully":[74],"account":[75],"for":[76,99],"existing":[79,226],"studies.":[80],"To":[81],"address":[82],"these":[83,179],"challenges,":[84],"we":[85,140],"propose":[86],"Co-Enhancement":[88],"Edges":[90],"Nodes":[92],"Heterogeneous":[94],"Graph":[95],"Attention":[96],"(CENH)":[97],"method":[98,143,234],"crossing":[101,212],"This":[104],"approach":[105],"effectively":[106,235],"incorporates":[107],"impact":[109],"elements,":[118,180,247],"overcoming":[119],"issues":[120],"like":[121],"unification":[123],"interaction":[125,129,147],"ranges,":[126],"quantification":[127],"strength,":[130],"modeling":[132],"perspective.":[138],"Specifically,":[139],"design":[141],"define":[145],"range":[148],"based":[149],"on":[150,215],"ego-vehicle,":[158],"adaptively":[159],"selecting":[160],"relevant":[161],"elements.":[163],"We":[164],"employ":[165],"directed":[167],"heterogeneous":[168],"graph":[169,187],"represent":[171],"dynamic":[173],"edge":[182],"node":[184],"attributes":[185],"using":[186],"attention.":[188],"Additionally,":[189],"local":[191,200],"sparse":[192],"attention":[193],"module":[194],"introduced":[196],"extract":[198],"features":[201],"target,":[204],"are":[206],"then":[207],"used":[208],"predict":[210],"intention.":[213],"Experiments":[214],"PIE":[217],"JAAD":[219],"datasets":[220],"demonstrate":[221],"that":[222],"CENH":[223],"consistently":[224],"outperforms":[225],"methods":[227],"across":[228],"different":[229],"prediction":[230],"horizons.":[231],"The":[232],"proposed":[233],"captures":[236],"exploits":[238],"pedestrians":[243],"while":[248],"maintaining":[249],"strong":[250],"stability,":[251],"adaptability,":[252],"robustness":[254],"complex":[256],"traffic":[257],"scenarios.":[258]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}