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Likely, Light, and Accurate Context-Free Clusters-based Trajectory Prediction
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0001-9059-6175
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0002-3908-4921
2023 (English)In: 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), 24-28 Sept. 2023: Proceedings, IEEE, 2023, p. 1269-1276Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous systems in the road transportation network require intelligent mechanisms that cope with uncertainty to foresee the future. In this paper, we propose a multi-stage probabilistic approach for trajectory forecasting: trajectory transformation to displacement space, clustering of displacement time series, trajectory proposals, and ranking proposals. We introduce a new deep feature clustering method, underlying self-conditioned GAN, which copes better with distribution shifts than traditional methods. Additionally, we propose novel distance-based ranking proposals to assign probabilities to the generated trajectories that are more efficient yet accurate than an auxiliary neural network. The overall system surpasses context-free deep generative models in human and road agents trajectory data while performing similarly to point estimators when comparing the most probable trajectory.

Place, publisher, year, edition, pages
IEEE, 2023. p. 1269-1276
Series
IEEE International Conference on Intelligent Transportation Systems, ISSN 2153-0009, E-ISSN 2153-0017
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-108198DOI: 10.1109/ITSC57777.2023.10422479ISI: 001178996701042Scopus ID: 2-s2.0-85186527058ISBN: 9798350399479 (print)ISBN: 9798350399462 (electronic)OAI: oai:DiVA.org:oru-108198DiVA, id: diva2:1795900
Conference
26th IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2023), Bilbao, Bizkaia, Spain, September 24-28, 2023
Funder
Wallenberg AI, Autonomous Systems and Software Program (WASP)Available from: 2023-09-11 Created: 2023-09-11 Last updated: 2024-06-14Bibliographically approved

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Rodrigues de Almeida, TiagoMartinez Mozos, Oscar

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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