HDGT: 異種運転グラフトランスフォーマによるシーンエンコーディングを用いたマルチエージェント軌道予測
HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encoding
運転シーンを異種グラフとしてモデル化し、ノード中心座標系と階層的トランスフォーマで空間関係を符号化する軌道予測バックボーンHDGTを提案。INTERACTIONとWaymoのベンチマークで最先端性能を達成。
著者: Xiaosong Jia, Penghao Wu, Li Chen, Yu Liu, Hongyang Li, Junchi Yan
分類: cs.AI, cs.CV, cs.LG, cs.RO
原文アブストラクト
Encoding a driving scene into vector representations has been an essential task for autonomous driving that can benefit downstream tasks e.g. trajectory prediction. The driving scene often involves heterogeneous elements such as the different types of objects (agents, lanes, traffic signs) and the semantic relations between objects are rich and diverse. Meanwhile, there also exist relativity across elements, which means that the spatial relation is a relative concept and need be encoded in a ego-centric manner instead of in a global coordinate system. Based on these observations, we propose Heterogeneous Driving Graph Transformer (HDGT), a backbone modelling the driving scene as a heterogeneous graph with different types of nodes and edges. For heterogeneous graph construction, we connect different types of nodes according to diverse semantic relations. For spatial relation encoding, the coordinates of the node as well as its in-edges are in the local node-centric coordinate system. For the aggregation module in the graph neural network (GNN), we adopt the transformer structure in a hierarchical way to fit the heterogeneous nature of inputs. Experimental results show that HDGT achieves state-of-the-art performance for the task of trajectory prediction, on INTERACTION Prediction Challenge and Waymo Open Motion Challenge.
