The DOI matches its Crossref record; 32 of the 32 references it cites were found in a registry or an index.
CoverNet: Multimodal Behavior Prediction Using Trajectory Sets
Open accessAbstract
We present CoverNet, a new method for multimodal, probabilistic trajectory prediction for urban driving. Previous work has employed a variety of methods, including multimodal regression, occupancy maps, and 1-step stochastic policies. We instead frame the trajectory prediction problem as classification over a diverse set of trajectories. The size of this set remains manageable due to the limited number of distinct actions that can be taken over a reasonable prediction horizon. We structure the trajectory set to a) ensure a desired level of coverage of the state space, and b) eliminate physically impossible trajectories. By dynamically generating trajectory sets based on the agent's current state, we can further improve our method's efficiency. We demonstrate our approach on public, real world self-driving datasets, and show that it outperforms state-of-the-art methods.
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Cites
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Cited by
nuScenes: A Multimodal Dataset for Autonomous Driving
Caesar, H., Bankiti, V., Lang, A. H., Vora, S., Liong, V. E., Xu, Q., Krishnan, A., Pan, Y., Baldan, G., & Beijbom, O. (2020) · 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr42600.2020.01164 · Cited by 7,152
Self-citationA Survey on Trajectory-Prediction Methods for Autonomous Driving
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AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting
Yuan, Y., Weng, X., Ou, Y., & Kitani, K. (2021) · 2021 IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv48922.2021.00967 · Cited by 631
Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset
Ettinger, S., Cheng, S., Caine, B., Liu, C., Zhao, H., Pradhan, S., Chai, Y., Sapp, B., Qi, C., Zhou, Y., et al. (2021) · 2021 IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv48922.2021.00957 · Cited by 584
Multimodal Motion Prediction with Stacked Transformers
Liu, Y., Zhang, J., Fang, L., Jiang, Q., & Zhou, B. (2021) · 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr46437.2021.00749 · Cited by 474
Metadata
- Authors
- Phan-Minh, T., Grigore, E. C., Boulton, F. A., Beijbom, O., & Wolff, E. M.
- Venue
- 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
- Publisher
- IEEE
- Published
- 2020-06
- Pages
- 14062-14071
- ISSN
- 1063-6919 (ISSN-L)
- OpenAlex
- W2989704640
- Cited by
- 438
- References
- 32
- FWCI
- 49.75
- Type
- conference paper
- Language
- en
- Open access
- green
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