Scene Informer: Anchor-based Occlusion Inference and Trajectory Prediction in Partially Observable Environments

arXiv:2309.13893v2 Announce Type: replace-cross
Abstract: Navigating complex and dynamic environments requires autonomous vehicles (AVs) to reason about both visible and occluded regions. This involves predicting the future motion of observed agents, inferring occluded ones, and modeling their interactions based on vectorized scene representations of the partially observable environment. However, prior work on occlusion inference and trajectory prediction have developed in isolation, with the former based on simplified rasterized methods and the latter assuming full environment observability. We introduce the Scene …

abstract agents anchor arxiv autonomous autonomous vehicles cs.ai cs.cv cs.ro dynamic environment environments future inference interactions modeling observable prediction reason trajectory type vehicles