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Predicting trajectories of multiple obstacles in dynamic traffic scenarios is a major challenge, especially when different types of obstacles such as vehicles and pedestrians are involved. According to the issues mentioned, in this work a novel method based on Bayesian dynamic networks is proposed to infer the paths of interest objects (IO). Environmental information is obtained through stereo video, the direction vectors of multiple obstacles are computed and the trajectories with the highest probability of occurrence and the possibility of collision are highlighted. The proposed approach was evaluated using test environments considering different road layouts and multiple obstacles in real-world traffic scenarios. A comparison of the results obtained against the ground truth of the paths taken by each detected IO is performed. According to experimental results, the proposed method obtains a prediction rate of 75% for the change of direction taking into consideration the risk of collision. The importance of the proposal is that it does not obviate the risk of collision in contrast with related work.<\/jats:p>","DOI":"10.3233\/jifs-219255","type":"journal-article","created":{"date-parts":[[2021,12,24]],"date-time":"2021-12-24T10:27:47Z","timestamp":1640341667000},"page":"4673-4684","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Motion estimation in vehicular environments based on Bayesian dynamic networks"],"prefix":"10.1177","volume":"42","author":[{"given":"Lauro","family":"Reyes-Cocoletzi","sequence":"first","affiliation":[{"name":"Faculty of Computer Science, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla, Puebla-M\u00e9xico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ivan","family":"Olmos-Pineda","sequence":"additional","affiliation":[{"name":"Faculty of Computer Science, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla, Puebla-M\u00e9xico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J. 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