US Patent 11087477 Trajectory prediction

Trajectory prediction may receiving a LiDAR image sequence including a set of LiDAR images and generating a LiDAR map, generating an interaction encoder result by feeding the LiDAR image sequence through an interaction encoder, generating a feature extractor result by feeding the LiDAR map through a feature extractor, generating a relation encoder result by feeding a past trajectory of a detected obstacle from the LiDAR image sequence, the interaction encoder result, and the feature extractor result through a relation encoder, generating an intention estimation result by feeding the relation encoder result through an intention estimator, generating a conditional generative model result by feeding the past trajectory of the detected obstacle, the intention estimation result, and a probability map through a conditional generative model encoder, and generating a trajectory prediction by feeding the relation encoder result, the past trajectory of the detected obstacle, and the conditional generative model result through a trajectory predictor.