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

Table 4

Pedestrian lateral trajectory prediction error.

Systems	State
		Walking		Stopping
		0	15	0	15
KF	Mean	0.28	0.62	0.43	1.27
	±Std	0.05	0.25	0.09	0.24
IMM-KF	Mean	0.34	0.58	0.62	1.15
	±Std	0.06	0.34	0.15	0.31
HoM/Traj	Mean	0.22	0.43	0.31	0.82
	±Std	0.03	0.13	0.09	0.24
SFlow/GPDM	Mean	0.17	0.51	0.37	0.54
	±Std	0.06	0.27	0.08	0.18
KPOF-Net	Mean	0.15	0.38	0.27	0.42
	0 ± Std	0.04	0.13	0.05	0.14