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arXiv · 2109.08048

Raising context awareness in motion forecasting

Hédi Ben-Younes·Éloi Zablocki·Mickaël Chen·Patrick Pérez·Matthieu Cord
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Abstract

Learning-based trajectory prediction models have encountered great success, with the promise of leveraging contextual information in addition to motion history. Yet, we find that state-of-the-art forecasting methods tend to overly rely on the agent's current dynamics, failing to exploit the semantic contextual cues provided at its input. To alleviate this issue, we introduce CAB, a motion forecasting model equipped with a training procedure designed to promote the use of semantic contextual information. We also introduce two novel metrics - dispersion and convergence-to-range - to measure the temporal consistency of successive forecasts, which we found missing in standard metrics. Our method is evaluated on the widely adopted nuScenes Prediction benchmark as well as on a subset of the most difficult examples from this benchmark. The code is available at github.com/valeoai/CAB

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Hédi Ben-Younes, Éloi Zablocki, Mickaël Chen, Patrick Pérez, Matthieu Cord. 2021-09-16. Raising context awareness in motion forecasting. https://arxiv.org/abs/2109.08048

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