SceneMotion: エージェント中心埋め込みからシーン全体の予測へ
SceneMotion: From Agent-Centric Embeddings to Scene-Wide Forecasts
複数の交通エージェントのシーン全体の運動モードを予測する注意機構ベースのモデルを提案し、潜在コンテキストモジュールで相互作用を考慮した予測を実現した。
著者: Royden Wagner, Ömer Sahin Tas, Marlon Steiner, Fabian Konstantinidis, Hendrik Königshof, Marvin Klemp, Carlos Fernandez, Christoph Stiller
分類: cs.CV, cs.RO
原文アブストラクト
Self-driving vehicles rely on multimodal motion forecasts to effectively interact with their environment and plan safe maneuvers. We introduce SceneMotion, an attention-based model for forecasting scene-wide motion modes of multiple traffic agents. Our model transforms local agent-centric embeddings into scene-wide forecasts using a novel latent context module. This module learns a scene-wide latent space from multiple agent-centric embeddings, enabling joint forecasting and interaction modeling. The competitive performance in the Waymo Open Interaction Prediction Challenge demonstrates the effectiveness of our approach. Moreover, we cluster future waypoints in time and space to quantify the interaction between agents. We merge all modes and analyze each mode independently to determine which clusters are resolved through interaction or result in conflict. Our implementation is available at: https://github.com/kit-mrt/future-motion
