Pedestrian Detection in Crowded Environments through Bayesian Prediction of Sequential Probability Matrices

Table 1

Features of the image datasets.

Dataset	Environment	Robot trajectory	Pedestrian behavior
(a) ETSII	Urban	Slow, straight	Static or erratic
(b) ITER1	Rural	Fast, straight	Static
(c) ITER2	Rural	Fast, erratic	Static
(d) BAHNHOF	Urban	Slow, straight	Parallel to robot
(e) JELMOLI	Urban	Fast, erratic	Several directions
(f) SUNNY DAY	Urban	Fast, straight	Parallel to robot
(g) CAVIAR1	Indoors	Static	Erratic
(h) CAVIAR2	Indoors	Static	Static or erratic
(i) CAVIAR3	Indoors	Static	Static or erratic
(j) CAVIAR4	Indoors	Static	Erratic, crowded
(k) DAIMLER	Urban	Fast, erratic	Several directions
(l) CALTECH	Urban	Fast, straight	Parallel to robot