Predicting the future trajectories of dynamic agents in complex environments is crucial for a variety of applications, including autonomous driving, robotics, and human-computer interaction. It is a challenging task as the behavior of the agent is unknown and intrinsically multimodal. Our key insight is that the agents behaviors are influenced not only by their past trajectories and their interaction with their immediate environment but also largely with their long term waypoint (LTW). In this paper, we study the impact of adding a long-term goal on the performance of a trajectory prediction framework. We present an interpretable long term waypoint-driven prediction framework (WayDCM). WayDCM first predict an agent's intermediate goal (IG) by encoding his interactions with the environment as well as his LTW using a combination of a Discrete choice Model (DCM) and a Neural Network model (NN). Then, our model predicts the corresponding trajectories. This is in contrast to previous work which does not consider the ultimate intent of the agent to predict his trajectory. We evaluate and show the effectiveness of our approach on the Waymo Open dataset.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Interpretable Long Term Waypoint-Based Trajectory Prediction Model


    Beteiligte:
    Ghoul, Amina (Autor:in) / Yahiaoui, Itheri (Autor:in) / Nashashibi, Fawzi (Autor:in)


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    352240 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    WAYPOINT SETTING DEVICE, WAYPOINT SETTING METHOD, AND WAYPOINT SETTING PROGRAM

    FUKUDA KENICHI / MAEDA ATSUHIKO / OBANA KAZUAKI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Waypoint optimization for accurate Pseudo-RTA in descent trajectory

    Takeichi, Noboru / Tachibana, Masanori / Abumi, Yosuke et al. | IEEE | 2015

    Freier Zugriff

    Waypoint optimization for accurate pseudo-RTA in descent trajectory

    Takeichi, Noboru / Tachibana, Masanori / Abumi, Yosuke et al. | IEEE | 2015