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Occupancy Flow Fields for Motion Forecasting in Autonomous Driving. (arXiv:2203.03875v1 [cs.RO])
March 9, 2022, 2:11 a.m. | Reza Mahjourian, Jinkyu Kim, Yuning Chai, Mingxing Tan, Ben Sapp, Dragomir Anguelov
cs.LG updates on arXiv.org arxiv.org
We propose Occupancy Flow Fields, a new representation for motion forecasting
of multiple agents, an important task in autonomous driving. Our representation
is a spatio-temporal grid with each grid cell containing both the probability
of the cell being occupied by any agent, and a two-dimensional flow vector
representing the direction and magnitude of the motion in that cell. Our method
successfully mitigates shortcomings of the two most commonly-used
representations for motion forecasting: trajectory sets and occupancy grids.
Although occupancy grids …
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