PBP: Path-based Trajectory Prediction for Autonomous Driving

arXiv:2309.03750v2 Announce Type: replace
Abstract: Trajectory prediction plays a crucial role in the autonomous driving stack by enabling autonomous vehicles to anticipate the motion of surrounding agents. Goal-based prediction models have gained traction in recent years for addressing the multimodal nature of future trajectories. Goal-based prediction models simplify multimodal prediction by first predicting 2D goal locations of agents and then predicting trajectories conditioned on each goal. However, a single 2D goal location serves as a weak inductive bias for predicting …

abstract agents arxiv autonomous autonomous driving autonomous vehicles cs.cv driving enabling future multimodal nature path prediction prediction models role stack trajectory type vehicles