Incremental Learning of Statistical Motion Patterns With Growing Hidden Markov Models

Modeling and predicting human and vehicle motion is an active research domain. Due to the difficulty of modeling the various factors that determine motion (e. g., internal state and perception), this is often tackled by applying machine learning techniques to build a statistical model, using as input a collection of trajectories gathered through a sensor (e. g., camera and laser scanner), and then using that model to predict further motion. Unfortunately, most current techniques use offline learning algorithms, meaning that they are not able to learn new motion patterns once the learning stage has finished. In this paper, we present an approach where motion patterns can be learned incrementally and in parallel with prediction. Our work is based on a novel extension to hidden Markov models (HMMs)-called growing hidden Markov models-which gives us the ability to incrementally learn both the parameters and the structure of the model.