Behavior recognition of non-motorized transport at intersections using dual-channel grid model based on disordered trajectory point data

Accurately identifying the passing and waiting behavior of pedestrians and non-motorized vehicles at intersection is essential to planning management measures for non-motorized transport. Much previous study in this field has focused on methods based on continuous individual trajectory detection, which are almost ineffective under the poor detection condition in dense traffic scenarios. To address the task, this paper establish a workable framework for inferring the probabilities of passing or waiting behavior of pedestrians and non-motorized vehicles in arbitrary space using disordered trajectory point data. First, a two-channel model is proposed to perform a formalized grid-level representation of an intersection, in which the functional attributes and occupancy characteristics of grids are comprehensively defined and quantified. Then, the quantitative characteristics of the grids are used to detect the real-world occurrence space of passing and waiting behaviors, by the clustering and expanding operations on grids. Finally, through feature transfer along path, characteristics is decomposed into passing and waiting occurrence characteristics for behavior probability computation. Results indicate that the method achieves over 91% accuracy of behavior recognition, which is better than compared methods in various Multiple Object Tracking Accuracy (MOTA). Although the method is sensitive to spatial detection conditions, it obtains steady accuracy under various target detection settings.