WTGCN: wavelet transform graph convolution network for pedestrian trajectory prediction

The task of pedestrian trajectory prediction remains challenging due to variable scenarios, complex social interactions, and uncertainty in pedestrian motion. Previous trajectory prediction research only models from the time domain, which makes it difficult to accurately capture the global and detailed features of complex pedestrian social interactions and the uncertainty of pedestrian movement. These methods also ignore the relationship between scene features and the potential motion patterns of pedestrians. Therefore, we propose a wavelet transform graph convolution network to obtain accurate pedestrian potential motion patterns through time-frequency analysis. We first construct spatial and temporal graphs, then obtain the attention score matrices through the self-attention mechanism in the time domain and combine them with the scene features. Then, we utilize the two-dimensional discrete wavelet transform to generate low-frequency and high-frequency components for representing global and detailed features of spatial-temporal interactions. These components are then further processed using asymmetric convolution, and the wavelet transform adjacency matrix is obtained through the inverse wavelet transform. We then employ graph convolution to combine the graph and the adjacency matrix to obtain spatial and temporal interaction features. Finally, we design the wavelet transform temporal convolution network to directly predict the two-dimensional Gaussian distribution parameters of the future trajectory. Extensive experiments on the ETH, UCY, and SDD datasets demonstrate that our method outperforms the state-of-the-art methods in prediction performance.