At the Traffic Intersection, Stopping, or Walking? Pedestrian Path Prediction Based on KPOF-GPDM for Driving Assistance

Figure 5

Four types of human joint point models are shown. When the pedestrian is in the stopping state, the whole body is in a vertical posture, and the direct distance between the legs is 0–30 cm. When the pedestrian is in the walking state, the whole body is basically in a vertical posture, and the distance between the feet is 50–70 cm. When a pedestrian has a change in the state of motion, the upper limbs will lean forward, but the distance between the pedestrian’s legs in (c) is 40–60 cm, and the distance between the legs in (d) is about 0–30 cm. (a) Stopping. (b) Walking. (c) Stopping tendency. (d) Walking tendency.

(a)

(b)

(c)

(d)