SemanticFormer: Holistic and Semantic Traffic Scene Representation for Trajectory Prediction using Knowledge Graphs

arXiv:2404.19379v1 Announce Type: new
Abstract: Trajectory prediction in autonomous driving relies on accurate representation of all relevant contexts of the driving scene including traffic participants, road topology, traffic signs as well as their semantic relations to each other. Despite increased attention to this issue, most approaches in trajectory prediction do not consider all of these factors sufficiently. This paper describes a method SemanticFormer to predict multimodal trajectories by reasoning over a semantic traffic scene graph using a hybrid approach. We …

abstract arxiv attention autonomous autonomous driving cs.cv cs.ro driving graphs issue knowledge knowledge graphs prediction relations representation semantic topology traffic trajectory type