Method and apparatus for predicting intent of vulnerable road users

A computer system comprising:

• at least one processor;
• a memory coupled to the at least one processor, the at least one processor configured to:
• obtain, a sequence of video frames corresponding to a scene external to a vehicle captured by one or more sensors;
• detect one or more vulnerable road users (VRUs) in the sequence of video frames, wherein the detecting comprises estimating pose of each of the detected one or more VRUs;
• generate a segmentation map of the scene using one or more of the video frames;
• estimate one or more intention probabilities using estimated pose of the one or more VRUs and the segmentation map, each intention probability corresponding to one of the detected one or more VRUs;
• and
• adjust one or more automated driving actions based on the estimated one or more intention probabilities.

A computer-readable storage medium storing instructions that, when executed by one or more processors of a vehicle computer system, cause the one or more processors to perform the following:

• obtain a sequence of video frames corresponding to a scene external to the vehicle, wherein the sequence of video frames is captured using one or more sensors;
• detect one or more vulnerable road users (VRUs) in the sequence of video frames, wherein the detecting comprises estimating pose of each of the detected one or more VRUs;
• generate a segmentation map of the scene using one or more of the video frames;
• estimate one or more intention probabilities using estimated pose of the one or more VRUs and the segmentation map, each intention probability corresponding to one of the detected one or more VRUs;
• and
• adjust one or more automated driving actions based on the estimated one or more intention probabilities.