From Pedestrian Detection to Crosswalk Estimation: An EM Algorithm and Analysis on Diverse Datasets

In this work, we contribute an EM algorithm for estimation of corner points and linear crossing segments for both marked and unmarked pedestrian crosswalks using the detections of pedestrians from processed LiDAR point clouds or camera images. We demonstrate the algorithmic performance by analyzing three real-world datasets containing multiple periods of data collection for four-corner and two-corner intersections with marked and unmarked crosswalks. Additionally, we include a Python video tool to visualize the crossing parameter estimation, pedestrian trajectories, and phase intervals in our public source code.