Exploring dynamic context for multi-path trajectory prediction

Hao Cheng, Wentong Liao, Xuejiao Tang, Michael Ying Yang, Monika Sester, Bodo Rosenhahn

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)
31 Downloads (Pure)


To accurately predict future positions of different agents in traffic scenarios is crucial for safely deploying intelligent autonomous systems in the real-world environment. However, it remains a challenge due to the behavior of a target agent being affected by other agents dynamically and there being more than one socially possible paths the agent could take. In this paper, we propose a novel framework, named Dynamic Context Encoder Network (DCENet). In our framework, first, the spatial context between agents is explored by using self-attention architectures. Then, the two-stream encoders are trained to learn temporal context between steps by taking the respective observed trajectories and the extracted dynamic spatial context as input. The spatial-temporal context is encoded into a latent space using a Conditional Variational Auto-Encoder (CVAE) module. Finally, a set of future trajectories for each agent is predicted conditioned on the learned spatial-temporal context by sampling from the latent space, repeatedly. DCENet is evaluated on one of the most popular challenging benchmarks for trajectory forecasting Trajnet and reports a new state-of-the-art performance. It also demonstrates superior performance evaluated on the benchmark inD for mixed traffic at intersections. A series of ablation studies is conducted to validate the effectiveness of each proposed module
Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages7
ISBN (Electronic)978-1-7281-9077-8
Publication statusPublished - 18 Oct 2021
EventIEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China, Virtual Event, China
Duration: 30 May 20215 Jun 2021


ConferenceIEEE International Conference on Robotics and Automation, ICRA 2021
Abbreviated titleICRA 2021
CityVirtual Event


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