Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that -surprisingly -a simple Constant Velocity Model can outperform even state-of-the-art neural models. This indicates that either neural networks are not able to make use of the additional information they are provided with, or that this information is not as relevant as commonly believed. Therefore, we analyze how neural networks process their input and how it impacts their predictions. Our analysis reveals pitfalls in training neural networks for pedestrian motion prediction and clarifies false assumptions about the problem itself. In particular, neural networks implicitly learn environmental priors that negatively impact their generalization capability, the motion history of pedestrians is irrelevant and interactions are too complex to predict. Our work shows how neural networks for pedestrian motion prediction can be thoroughly evaluated and our results indicate which research directions for neural motion prediction are promising in future.

Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to differing physical measurement principles and the high sparsity of traffic radars. We propose -to the best of our knowledge -the first data-driven method for automatic rotational radar-camera calibration without dedicated calibration targets. Our approach is based on a coarse and a fine convolutional neural network. We employ a boosting-inspired training algorithm, where we train the fine network on the residual error of the coarse network. Due to the unavailability of public datasets combining radar and camera measurements, we recorded our own real-world data. We demonstrate that our method is able to reach precise and robust sensor registration and show its generalization capabilities to different sensor alignments and perspectives.

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