Robust Trajectory Forecasting for Multiple Intelligent Agents in Dynamic Scene

摘要

Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of the complex interactions among the agents and their interactions with the surrounding scenes. In this paper, we present a novel method for the robust trajectory forecasting of multiple intelligent agents in dynamic scenes. The proposed method consists of three major interrelated components: an interaction net for global spatiotemporal interactive feature extraction, an environment net for decoding dynamic scenes (i.e., the surrounding road topology of an agent), and a prediction net that combines the spatiotemporal feature, the scene feature, the past trajectories of agents and some random noise for the robust trajectory prediction of agents. Experiments on pedestrian-walking and vehicle-pedestrian heterogeneous datasets demonstrate that the proposed method outperforms the state-of-the-art prediction methods in terms of prediction accuracy.