Predicting the behavior of road users accurately is crucial to enable the safe operation of autonomous vehicles in urban or densely populated areas. Therefore, there has been a growing interest in time series motion prediction research, leading to significant advancements in state-of-the-art techniques in recent years. However, the potential of using LiDAR data to capture more detailed local features, such as a person's gaze or posture, remains largely unexplored. To address this, we develop a novel multimodal approach for motion prediction based on the PointNet foundation model architecture, incorporating local LiDAR features. Evaluation on the Waymo Open Dataset shows a performance improvement of 6.20% and 1.58% in minADE and mAP respectively, when integrated and compared with the previous state-of-the-art MTR. We open-source the code of our LiMTR model.
@article{arxiv.2410.15819,
title = {LiMTR: Time Series Motion Prediction for Diverse Road Users through Multimodal Feature Integration},
author = {Camiel Oerlemans and Bram Grooten and Michiel Braat and Alaa Alassi and Emilia Silvas and Decebal Constantin Mocanu},
journal= {arXiv preprint arXiv:2410.15819},
year = {2024}
}
Comments
Accepted at the NeurIPS 2024 workshop Time Series in the Age of Large Models. Code available at https://github.com/Cing2/LiMTR