Probabilistic Pedestrian Forecasts from a Handheld Phone: World-Frame Heat Maps, Visual-Inertial Height Drift, and Evaluation without Ground Truth

A pedestrian with a phone could be shown where nearby people will be in the next few seconds, if the forecast stays on the ground while the phone moves, is calibrated, and needs only a monocular camera and visual-inertial odometry (VIO). We build and evaluate such a system. People are detected, lift