MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Querying
| Autor: | Shi, Shaoshuai, Jiang, Li, Dai, Dengxin, Schiele, Bernt |
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| Rok vydání: | 2023 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | Motion prediction is crucial for autonomous driving systems to understand complex driving scenarios and make informed decisions. However, this task is challenging due to the diverse behaviors of traffic participants and complex environmental contexts. In this paper, we propose Motion TRansformer (MTR) frameworks to address these challenges. The initial MTR framework utilizes a transformer encoder-decoder structure with learnable intention queries, enabling efficient and accurate prediction of future trajectories. By customizing intention queries for distinct motion modalities, MTR improves multimodal motion prediction while reducing reliance on dense goal candidates. The framework comprises two essential processes: global intention localization, identifying the agent's intent to enhance overall efficiency, and local movement refinement, adaptively refining predicted trajectories for improved accuracy. Moreover, we introduce an advanced MTR++ framework, extending the capability of MTR to simultaneously predict multimodal motion for multiple agents. MTR++ incorporates symmetric context modeling and mutually-guided intention querying modules to facilitate future behavior interaction among multiple agents, resulting in scene-compliant future trajectories. Extensive experimental results demonstrate that the MTR framework achieves state-of-the-art performance on the highly-competitive motion prediction benchmarks, while the MTR++ framework surpasses its precursor, exhibiting enhanced performance and efficiency in predicting accurate multimodal future trajectories for multiple agents. Comment: Accepted by IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI 2024). The winning approaches for the Waymo Motion Prediction Challenge in 2022 and 2023 |
| Databáze: | arXiv |
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