A method performed by one or more computers, the method comprising: obtaining scene context data characterizing a scene in an environment at a current time point, wherein the scene context data includes features of the scene in a scene-centric coordinate system; generating a scene-centric encoded representation of the scene in the environment by processing the scene context data using an encoder neural network; for each target agent: obtaining agent-specific features for the target agent, processing the agent-specific features for the target agent and the scene-centric encoded representation of the scene using a fusion neural network to generate a fused scene representation for the target agent, and processing the fused scene representation for the target agent using a decoder neural network to generate a trajectory prediction output for the target agent in an agent-centric coordinate system for the target agent.
BEHAVIOR PREDICTION USING SCENE-CENTRIC REPRESENTATIONS
2025-04-17
Patent
Electronic Resource
English
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