  Predicting pedestrian behavior is one of the main challenges for intelligent
driving systems. In this paper, we present a new paradigm for evaluating
egocentric pedestrian trajectory prediction algorithms. Based on various
contextual information, we extract driving scenarios for a meaningful and
systematic approach to identifying challenges for prediction models. In this
regard, we also propose a new metric for more effective ranking within the
scenario-based evaluation. We conduct extensive empirical studies of existing
models on these scenarios to expose shortcomings and strengths of different
approaches. The scenario-based analysis highlights the importance of using
multimodal sources of information and challenges caused by inadequate modeling
of ego-motion and scale of pedestrians. To this end, we propose a novel
egocentric trajectory prediction model that benefits from multimodal sources of
data fused in an effective and efficient step-wise hierarchical fashion and two
auxiliary tasks designed to learn more robust representation of scene dynamics.
We show that our approach achieves significant improvement by up to 40% in
challenging scenarios compared to the past arts via empirical evaluation on
common benchmark datasets.

Computer Vision and Pattern Recognition;Robotics