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Published at December 5PriorMotion: Generative Class-Agnostic Motion Prediction with Raster-Vector Motion Field Priors
cs.CV
cs.PF
cs.RO
Released Date: December 5, 2024
Authors: Kangan Qian1, Xinyu Jiao, Yining Shi, Yunlong Wang, Ziang Luo, Zheng Fu, Kun Jiang, Diange Yang
Aff.: 1Tsinghua University, China

| Method | Backbone | Static | Speed 5m/s | Speed 5m/s | Motion.S | |||
| Mean | Median | Mean | Median | Mean | Median | Variance | ||
| StaticModel | Rules | 0 | 0 | 0.6111 | 0.0971 | 8.6517 | 8.1412 | 0 |
| FlowNet3D[24] | PointNet | 0.0410 | 0 | 0.8183 | 0.1782 | 8.5261 | 8.0230 | 0 |
| HPLFlowNet[11] | BCL | 0.0041 | 0.0002 | 0.4458 | 0.0960 | 4.3206 | 2.4881 | 0 |
| PointRCNN[56] | PointNet | 0.0204 | 0 | 0.5514 | 0.1627 | 3.9888 | 1.6252 | 0 |
| LSTM-EM[29] | LSTM | 0.0358 | 0 | 0.3551 | 0.1044 | 1.5885 | 1.0003 | 0 |
| Pillar.M(L&I)[25] | Pillar.E | 0.0245 | 0 | 0.2286 | 0.0930 | 0.7784 | 0.4685 | - |
| MotionNet[49] | STPN | 0.0262 | 0 | 0.2467 | 0.0961 | 0.9878 | 0.6994 | 0.0267 |
| MotionNet[49]† | STPN | 0.0201 | 0 | 0.2292 | 0.0952 | 0.9454 | 0.6180 | 0.0251 |
| MotionNet[43]‡ | STPN | 0.0271 | 0 | 0.2267 | 0.0945 | 0.8427 | 0.5173 | - |
| PriorMotion(Ours) | STPN | 0.0285 | 0 | 0.2364(4.18%) | 0.0893 | 0.8064(18.36%) | 0.5869 | 0.0074 |
| ST-Trm[47] | STT | 0.0214 | 0 | 0.2426 | 0.0957 | 1.0504 | 0.7247 | 0.0231 |
| PriorMotion(Ours) | STT | 0.0267 | 0 | 0.2341(3.51%) | 0.0949 | 0.9136(13.02%) | 0.5738 | 0.0094 |
| STI[44] | STI | 0.0244 | 0 | 0.2375 | 0.0950 | 0.9078 | 0.6262 | 0.0221 |
| BE-STI[44]† | STI | 0.0220 | 0 | 0.2115 | 0.0929 | 0.7511 | 0.5413 | 0.0108 |
| PriorMotion(Ours) | STI | 0.0273 | 0 | 0.2207(7.07%) | 0.0931 | 0.7287(19.73%) | 0.5329 | 0.0075 |