Cross-domain Trajectory Prediction with CTP-Net

Abstract

Most pedestrian trajectory prediction methods rely on a huge amount of trajectories annotation, which is time-consuming and expensive. Moreover, a well-trained model may not effectively generalize to a new scenario captured by another camera. Therefore, it is desirable to adapt the model trained on an annotated source domain to the target domain. To achieve domain adaptation for trajectory prediction, we propose a Cross-domain Trajectory Prediction Network (CTP-Net). In this framework, encoders are used in both domains to encode the observed trajectories, then their features are aligned by a cross-domain feature discriminator. Further, considering the consistency between the observed and the predicted trajectories, a target domain offset discriminator is utilized to adversarially regularize the future trajectory predictions to be in line with the observed trajectories. Extensive experiments demonstrate the effectiveness of our method on domain adaptation for pedestrian trajectory prediction.