相关论文: Integrating Specialized and Generic Agent Motion P…

One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…

Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of…

Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…

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…

This paper presents a method to predict the evolution of a complex traffic scenario with multiple objects. The current state of the scenario is assumed to be known from sensors and the prediction is taking into account various hypotheses…

In perception tasks of automated vehicles (AVs) data-driven have often outperformed conventional approaches. This motivated us to develop a data-driven methodology to compute occupancy grid maps (OGMs) from lidar measurements. Our approach…

In this paper, we address the important problem in self-driving of forecasting multi-pedestrian motion and their shared scene occupancy map, critical for safe navigation. Our contributions are two-fold. First, we advocate for predicting…

Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…

Environment modeling in autonomous driving is realized by two fundamental approaches, grid-based and feature-based approach. Both methods interpret the environment differently and show some situation-dependent beneficial realizations. In…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…

In order to plan a safe maneuver an autonomous vehicle must accurately perceive its environment, and understand the interactions among traffic participants. In this paper, we aim to learn scene-consistent motion forecasts of complex urban…

Representing diverse and plausible future trajectories is critical for motion forecasting in autonomous driving. However, efficiently capturing these trajectories in a compact set remains challenging. This study introduces a novel approach…

In this paper, we propose a novel approach for agent motion prediction in cluttered environments. One of the main challenges in predicting agent motion is accounting for location and context-specific information. Our main contribution is…

Predicting future behaviors of road agents is a key task in autonomous driving. While existing models have demonstrated great success in predicting marginal agent future behaviors, it remains a challenge to efficiently predict consistent…

We investigate the multi-step prediction of the drivable space, represented by Occupancy Grid Maps (OGMs), for autonomous vehicles. Our motivation is that accurate multi-step prediction of the drivable space can efficiently improve path…

Accurately predicting interactive road agents' future trajectories and planning a socially compliant and human-like trajectory accordingly are important for autonomous vehicles. In this paper, we propose a planning-centric prediction neural…

For intelligent transportation systems and autonomous vehicles to operate safely and efficiently, they must reliably predict the future motion and trajectory of surrounding agents within complex traffic environments. At the same time, the…

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,…

Multi-agent trajectory prediction is a fundamental problem in autonomous driving. The key challenges in prediction are accurately anticipating the behavior of surrounding agents and understanding the scene context. To address these…