Multi-granularity scenarios understanding network for trajectory prediction
نویسندگان
چکیده
Abstract Understanding agents’ motion behaviors under complex scenes is crucial for intelligent autonomous moving systems (like delivery robots and self-driving cars). It challenging duo to the inherent uncertain of future trajectories large variation in scene layout. However, most recent approaches ignored or underutilized scenario information. In this work, a Multi-Granularity Scenarios framework, MGSU, proposed explore layout from different granularity. MGSU can be divided into three modules: (1) A coarse-grained fusion module uses cross-attention fuse observed trajectory with semantic information scene. (2) The inverse reinforcement learning generates optimal path strategy through grid-based policy sampling outputs multiple paths. (3) fine-grained integrates paths generate trajectories. To fully improve efficiency, we present novel scene-fusion Transformer, whose encoder used extract features decoder Compared current state-of-the-art methods, our method decreases ADE errors by 4.3% 3.3% gradually integrating granularity on SDD NuScenes, respectively. visualized demonstrate that accurately predict after fusing
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ژورنال
عنوان ژورنال: Complex & Intelligent Systems
سال: 2022
ISSN: ['2198-6053', '2199-4536']
DOI: https://doi.org/10.1007/s40747-022-00834-2