相关论文: LiMTR: Time Series Motion Prediction for Diverse R…

Motion prediction has been an essential component of autonomous driving systems since it handles highly uncertain and complex scenarios involving moving agents of different types. In this paper, we propose a Multi-Granular TRansformer…

Predicting multimodal future behavior of traffic participants is essential for robotic vehicles to make safe decisions. Existing works explore to directly predict future trajectories based on latent features or utilize dense goal candidates…

Motion prediction is crucial for autonomous driving systems to understand complex driving scenarios and make informed decisions. However, this task is challenging due to the diverse behaviors of traffic participants and complex…

The ability to accurately predict feasible multimodal future trajectories of surrounding traffic participants is crucial for behavior planning in autonomous vehicles. The Motion Transformer (MTR), a state-of-the-art motion prediction…

In autonomous driving, accurately predicting the movements of other traffic participants is crucial, as it significantly influences a vehicle's planning processes. Modern trajectory prediction models strive to interpret complex patterns and…

In this paper, we present LiRaNet, a novel end-to-end trajectory prediction method which utilizes radar sensor information along with widely used lidar and high definition (HD) maps. Automotive radar provides rich, complementary…

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can,…

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

Widely adopted motion forecasting datasets substitute the observed sensory inputs with higher-level abstractions such as 3D boxes and polylines. These sparse shapes are inferred through annotating the original scenes with perception…

This paper presents a novel framework for human trajectory prediction based on multimodal data (video and radar). Motivated by recent neuroscience discoveries, we propose incorporating a structured memory component in the human trajectory…

LiDAR and 4D radar are widely used in autonomous driving and robotics. While LiDAR provides rich spatial information, 4D radar offers velocity measurement and remains robust under adverse conditions. As a result, increasing studies have…

One of the critical pieces of the self-driving puzzle is understanding the surroundings of a self-driving vehicle (SDV) and predicting how these surroundings will change in the near future. To address this task we propose MultiXNet, an…

Accurate and robust LiDAR 3D object detection is essential for comprehensive scene understanding in autonomous driving. Despite its importance, LiDAR detection performance is limited by inherent constraints of point cloud data, particularly…

Detecting pedestrians and predicting future trajectories for them are critical tasks for numerous applications, such as autonomous driving. Previous methods either treat the detection and prediction as separate tasks or simply add a…

This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…

In this report, we present the 1st place solution for motion prediction track in 2022 Waymo Open Dataset Challenges. We propose a novel Motion Transformer framework for multimodal motion prediction, which introduces a small set of novel…

Viewport prediction is a crucial aspect of tile-based 360 video streaming system. However, existing trajectory based methods lack of robustness, also oversimplify the process of information construction and fusion between different modality…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…