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Abstract
Predicting the future behavior of human road users is an important aspect for the development of risk-aware autonomous vehicles. While many models have been developed towards this end, effectively capturing and predicting the variability inherent to human behavior still remains an open challenge. This paper proposes TrajFlow - a new approach for probabilistic trajectory prediction based on Normalizing Flows. We reformulate the problem of capturing distributions over trajectories into capturing distributions over abstracted trajectory features using an autoencoder, simplifying the learning task of the Normalizing Flows. TrajFlow outperforms state-of-the-art behavior prediction models in capturing full trajectory distributions in two synthetic benchmarks with known true distributions, and is competitive on the naturalistic datasets ETH/UCY, rounD, and nuScenes. Our results demonstrate the effectiveness of TrajFlow in probabilistic prediction of human behavior.
Original language | English |
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Title of host publication | Proceddings of the 35th IEEE Intelligent Vehicles Symposium, IV 2024 |
Publisher | IEEE |
Pages | 184-191 |
Number of pages | 8 |
ISBN (Electronic) | 9798350348811 |
DOIs | |
Publication status | Published - 2024 |
Event | 35th IEEE Intelligent Vehicles Symposium, IV 2024 - Jeju Island, Korea, Republic of Duration: 2 Jun 2024 → 5 Jun 2024 |
Publication series
Name | IEEE Intelligent Vehicles Symposium, Proceedings |
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ISSN (Print) | 1931-0587 |
ISSN (Electronic) | 2642-7214 |
Conference
Conference | 35th IEEE Intelligent Vehicles Symposium, IV 2024 |
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Country/Territory | Korea, Republic of |
City | Jeju Island |
Period | 2/06/24 → 5/06/24 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
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ACT: Perceptive Acting Under Uncertainty
Bohté, S. M., Medendorp, P., Alonso-Mora, J., Martens, M., Khaled Mustafa, K. A., Mészáros, A., Jarne Ornia, D., Gazar, A. & Kober, J.
1/09/21 → 1/10/27
Project: Research