IEEE Robotics & Automation Magazine - June 2020 - 133

objects and making fairly accurate predictions, such as when
cars move in or out of the frame.
Pose-Prediction Results
The output of PredNet frame prediction is of shape
(N, T, 256, 456, 3), where N is the number of sequences and
T is the sequence length (T = 30). To ensure optimal performance of the OpenPose keypoint detector, we used the pyplot.

savefig function in matplotlib in Python to save the frame predictions with dots per inch equal to 1,000, resulting in 2,791 ×
4,967 images for the JAAD data set and 2,687 × 3,645 for the
PedX data set for pose prediction. We call this process upsampling. The OpenPose was then applied to the upsampled
(saved high-resolution) images to detect pedestrian keypoints.
Since the JAAD data set did not provide skeleton annotations, we used OpenPose pose-detection results filtered by

Actual

PredNet:
Next-Frame
Prediction

Ours:
Pose Prediction

Actual

PredNet:
Next-Frame
Prediction

Ours:
Pose Prediction

GT Poses

PredNet:
Multiple Time-Step
Frame Prediction
Ours:
Multiple Time-Step
Pose Prediction

Figure 3. An example of sample frames from the JAAD and PedX video sequences, the PredNet future frame-prediction results, and
the pose-prediction results of our proposed system. The top six rows show next-frame-prediction results. The first three are from
the JAAD data set, where two pedestrians are walking in a parking lot, and the middle three are from the PedX data set, where a
pedestrian is walking across the crosswalk at an intersection. The bottom three rows show the GT poses from the JAAD data set, the
multiple time-step frame-prediction results, and our multiple time-step pose-prediction results. The original video sequences are 30
frames long, which is equal to 1 s in JAAD and 5 s in PedX. Here, we plot t = 1, 7, 13, 19, 25, which corresponds to approximately 0.2-s
spacing in the JAAD sequence and 1-s spacing in PedX. For more results containing consecutive frames, please see the accompanying
video, which can be found as supplemental material for this article in IEEE Xplore.

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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IEEE Robotics & Automation Magazine - June 2020

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