相关论文: SSP: Single Shot Future Trajectory Prediction

In this work, we consider the task of collision-free trajectory planning for connected self-driving vehicles. We specifically consider communication-critical situations--situations where single-agent systems have blindspots that require…

In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…

This paper considers the problem of multi-modal future trajectory forecast with ranking. Here, multi-modality and ranking refer to the multiple plausible path predictions and the confidence in those predictions, respectively. We propose…

When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…

Due to the complex and changing interactions in dynamic scenarios, motion forecasting is a challenging problem in autonomous driving. Most existing works exploit static road graphs to characterize scenarios and are limited in modeling…

The prediction of road users' future motion is a critical task in supporting advanced driver-assistance systems (ADAS). It plays an even more crucial role for autonomous driving (AD) in enabling the planning and execution of safe driving…

Trajectory prediction aims to forecast agents' possible future locations considering their observations along with the video context. It is strongly needed by many autonomous platforms like tracking, detection, robot navigation, and…

The safe trajectory planning of intelligent and connected vehicles is a key component in autonomous driving technology. Modeling the environment risk information by field is a promising and effective approach for safe trajectory planning.…

Accurate prediction of pedestrian trajectories is crucial for enhancing the safety of autonomous vehicles and reducing traffic fatalities involving pedestrians. While numerous studies have focused on modeling interactions among pedestrians…

Deploying service robots in our daily life, whether in restaurants, warehouses or hospitals, calls for the need to reason on the interactions happening in dense and dynamic scenes. In this paper, we present and benchmark three new…

Individual traffic significantly contributes to climate change and environmental degradation. Therefore, innovation in sustainable mobility is gaining importance as it helps to reduce environmental pollution. However, effects of new ideas…

In recent years, visual 3D Semantic Scene Completion (SSC) has emerged as a critical perception task for autonomous driving due to its ability to infer complete 3D scene layouts and semantics from single 2D images. However, in real-world…

Self-driving vehicles rely on multimodal motion forecasts to effectively interact with their environment and plan safe maneuvers. We introduce SceneMotion, an attention-based model for forecasting scene-wide motion modes of multiple traffic…

A commonly-used representation for motion prediction of actors is a sequence of waypoints (comprising positions and orientations) for each actor at discrete future time-points. While this approach is simple and flexible, it can exhibit…

Trajectory prediction is one of the key components of the autonomous driving software stack. Accurate prediction for the future movement of surrounding traffic participants is an important prerequisite for ensuring the driving efficiency…

Behavior prediction of traffic actors is an essential component of any real-world self-driving system. Actors' long-term behaviors tend to be governed by their interactions with other actors or traffic elements (traffic lights, stop signs)…

Predicting traffic agents' trajectories is an important task for auto-piloting. Most previous work on trajectory prediction only considers a single class of road agents. We use a sequence-to-sequence model to predict future paths from…

Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…

Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…

In this paper, we tackle the problem of detecting objects in 3D and forecasting their future motion in the context of self-driving. Towards this goal, we design a novel approach that explicitly takes into account the interactions between…