相关论文: Kraken: enabling joint trajectory prediction by ut…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

Seamlessly operating an autonomous vehicle in a crowded pedestrian environment is a very challenging task. This is because human movement and interactions are very hard to predict in such environments. Recent work has demonstrated that…

In this work, we aim to predict the future motion of vehicles in a traffic scene by explicitly modeling their pairwise interactions. Specifically, we propose a graph neural network that jointly predicts the discrete interaction modes and…

Trajectory prediction of road users in real-world scenarios is challenging because their movement patterns are stochastic and complex. Previous pedestrian-oriented works have been successful in modelling the complex interactions among…

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…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

Reliable prediction of vehicle trajectories at signalized intersections is crucial to urban traffic management and autonomous driving systems. However, it presents unique challenges, due to the complex roadway layout at intersections,…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…

Video prediction is a complex time-series forecasting task with great potential in many use cases. However, traditional methods prioritize accuracy and overlook slow prediction speeds due to complex model structures, redundant information,…

Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…

As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

Vehicle trajectory prediction is crucial for autonomous driving and advanced driver assistant systems. While existing approaches may sample from a predicted distribution of vehicle trajectories, they lack the ability to explore it -- a key…

Pedestrian trajectory prediction is an important technique of autonomous driving, which has become a research hot-spot in recent years. Previous methods mainly rely on the position relationship of pedestrians to model social interaction,…

Accurately predicting pedestrian trajectories is crucial in applications such as autonomous driving or service robotics, to name a few. Deep generative models achieve top performance in this task, assuming enough labelled trajectories are…

Accurate motion prediction of surrounding agents is crucial for the safe planning of autonomous vehicles. Recent advancements have extended prediction techniques from individual agents to joint predictions of multiple interacting agents,…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Predicting multiple plausible future trajectories of the nearby vehicles is crucial for the safety of autonomous driving. Recent motion prediction approaches attempt to achieve such multimodal motion prediction by implicitly regularizing…