相关论文: MotionCNN: A Strong Baseline for Motion Prediction…

Safety is still the main issue of autonomous driving, and in order to be globally deployed, they need to predict pedestrians' motions sufficiently in advance. While there is a lot of research on coarse-grained (human center prediction) and…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Combining motion prediction and motion planning offers a promising framework for enhancing interactions between automated vehicles and other traffic participants. However, this introduces challenges in conditioning predictions on navigation…

Predicting agents' behavior for vehicles and pedestrians is challenging due to a myriad of factors including the uncertainty attached to different intentions, inter-agent interactions, traffic (environment) rules, individual inclinations,…

Predicting the future motion of actors in a traffic scene is a crucial part of any autonomous driving system. Recent research in this area has focused on trajectory prediction approaches that optimize standard trajectory error metrics. In…

In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion predictors output multi-modal predictions. We present our…

Driving in an off-road environment is challenging for autonomous vehicles due to the complex and varied terrain. To ensure stable and efficient travel, the vehicle requires consideration and balancing of environmental factors, such as…

Predicting the behavior of surrounding traffic participants is crucial for advanced driver assistance systems and autonomous driving. Most researchers however do not consider contextual knowledge when predicting vehicle motion. Extending…

Understanding and anticipating human activity is an important capability for intelligent systems in mobile robotics, autonomous driving, and video surveillance. While learning from demonstrations with on-site collected trajectory data is a…

Human motion prediction aims to forecast future human poses given a historical motion. Whether based on recurrent or feed-forward neural networks, existing learning based methods fail to model the observation that human motion tends to…

We present MotionDiffuser, a diffusion based representation for the joint distribution of future trajectories over multiple agents. Such representation has several key advantages: first, our model learns a highly multimodal distribution…

Deep convolutional neural networks (CNNs) have been shown to perform extremely well at a variety of tasks including subtasks of autonomous driving such as image segmentation and object classification. However, networks designed for these…

For both driving safety and efficiency, automated vehicles should be able to predict the behavior of surrounding traffic participants in a complex dynamic environment. To accomplish such a task, trajectory prediction is the key. Although…

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing…

Given a visual history, multiple future outcomes for a video scene are equally probable, in other words, the distribution of future outcomes has multiple modes. Multimodality is notoriously hard to handle by standard regressors or…

A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…

Motion prediction for automated vehicles in complex environments is a difficult task that is to be mastered when automated vehicles are to be used in arbitrary situations. Many factors influence the future motion of traffic participants…

In safety-critical systems that interface with the real world, the role of uncertainty in decision-making is pivotal, particularly in the context of machine learning models. For the secure functioning of Cyber-Physical Systems (CPS), it is…

The problem of multimodal intent and trajectory prediction for human-driven vehicles in parking lots is addressed in this paper. Using models designed with CNN and Transformer networks, we extract temporal-spatial and contextual information…

Motion planning and obstacle avoidance is a key challenge in robotics applications. While previous work succeeds to provide excellent solutions for known environments, sensor-based motion planning in new and dynamic environments remains…