MultiXNet: Multiclass Multistage Multimodal Motion Prediction

Nemanja Djuric; Henggang Cui; Zhaoen Su; Shangxuan Wu; Huahua Wang; Fang-Chieh Chou; Luisa San Martin; Song Feng; Rui Hu; Yang Xu; Alyssa Dayan; Sidney Zhang; Brian C. Becker; Gregory P. Meyer; Carlos Vallespi-Gonzalez; Carl K. Wellington

arXiv · 2006.02000

MultiXNet: Multiclass Multistage Multimodal Motion Prediction

Nemanja Djuric·Henggang Cui·Zhaoen Su·Shangxuan Wu·Huahua Wang·Fang-Chieh Chou·Luisa San Martin·Song Feng·Rui Hu·Yang Xu·Alyssa Dayan·Sidney Zhang·Brian C. Becker·Gregory P. Meyer·Carlos Vallespi-Gonzalez·Carl K. Wellington

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Abstract

One of the critical pieces of the self-driving puzzle is understanding the surroundings of a self-driving vehicle (SDV) and predicting how these surroundings will change in the near future. To address this task we propose MultiXNet, an end-to-end approach for detection and motion prediction based directly on lidar sensor data. This approach builds on prior work by handling multiple classes of traffic actors, adding a jointly trained second-stage trajectory refinement step, and producing a multimodal probability distribution over future actor motion that includes both multiple discrete traffic behaviors and calibrated continuous position uncertainties. The method was evaluated on large-scale, real-world data collected by a fleet of SDVs in several cities, with the results indicating that it outperforms existing state-of-the-art approaches.

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BibTeX RIS

Nemanja Djuric, Henggang Cui, Zhaoen Su, Shangxuan Wu, Huahua Wang, Fang-Chieh Chou, Luisa San Martin, Song Feng, Rui Hu, Yang Xu, Alyssa Dayan, Sidney Zhang, Brian C. Becker, Gregory P. Meyer, Carlos Vallespi-Gonzalez, Carl K. Wellington. 2020-06-03. MultiXNet: Multiclass Multistage Multimodal Motion Prediction. https://arxiv.org/abs/2006.02000

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