Vehicle navigation with respect to pedestrians and determination of vehicle free space

Systems and methods are provided for vehicle navigation. In one implementation, a navigation system for a host vehicle may include at least one processor programmed to: receive, from a camera onboard the host vehicle, at least one captured image representing an environment of the vehicle; detecting a pedestrian represented in the at least one captured image; analyzing the at least one captured image to determine an angular rotation indicator and a tilt angle indicator associated with the head of the pedestrian represented in the at least one captured image; and causing at least one navigation action of the primary vehicle based on the angular rotation indicator and the tilt angle indicator associated with the head of the pedestrian. 针对交通工具导航提供了系统和方法。在一个实现中，一种用于主交通工具的导航系统可以包括至少一个处理器，所述至少一个处理器被编程为：从所述主交通工具上的摄像机接收表示所述交通工具的环境的至少一个所捕获图像；检测在所述至少一个所捕获图像中表示的行人；分析所述至少一个所捕获图像以确定与在所述至少一个所捕获图像中表示的所述行人的头部相关联的角旋转指示符和倾斜角指示符；以及基于与行人的所述头部相关联的所述角旋转指示符和所述倾斜角指示符来引起所述主交通工具的至少一个导航动作。