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Published at December 10

ITPNet: Towards Instantaneous Trajectory Prediction for Autonomous Driving

cs.CV

Released Date: December 10, 2024

Authors: Rongqing Li¹, Changsheng Li¹, Yuhang Li¹, Hanjie Li¹, Yi Chen¹, Dongchun Ren, Ye Yuan¹, Guoren Wang¹

Aff.: ¹Beijing Institute of Technology

Arxiv: http://arxiv.org/pdf/2412.07369v1

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Dataset	Methods	K=1			K=6
Dataset	Methods	minADE	minFDE	minMR	minADE	minFDE	minMR
Argoverse	HiVT (Zhou et al., 2022)	4.158	8.368	0.846	1.085	1.712	0.249
	MOE+HiVT (Sun et al., 2022b)	3.312	6.840	0.794	0.939	1.413	0.177
	Distill+HiVT (Monti et al., 2022)	3.251	6.638	0.771	0.968	1.502	0.185
	ITPNet+HiVT	2.631	5.703	0.757	0.819	1.218	0.141
	LaneGCN (Liang et al., 2020)	4.204	8.647	0.861	1.126	1.821	0.278
	MOE+LaneGCN (Sun et al., 2022b)	3.958	8.264	0.842	1.089	1.734	0.265
	Distill+LaneGCN (Monti et al., 2022)	3.768	7.926	0.817	1.077	1.687	0.252
	ITPNet+LaneGCN	2.922	5.627	0.765	0.894	1.425	0.173
nuScenes	HiVT (Zhou et al., 2022)	6.564	13.745	0.914	1.772	2.836	0.505
	MOE+HiVT (Sun et al., 2022b)	5.705	12.619	0.913	1.712	2.813	0.494
	Distill+HiVT (Monti et al., 2022)	5.950	12.606	0.911	1.759	2.861	0.483
	ITPNet+HiVT	5.514	12.584	0.909	1.503	2.628	0.483
	LaneGCN (Liang et al., 2020)	6.125	14.300	0.935	1.878	3.497	0.630
	MOE+LaneGCN (Sun et al., 2022b)	6.071	13.994	0.931	1.778	3.372	0.613
	Distill+LaneGCN (Monti et al., 2022)	5.968	13.807	0.926	1.737	3.278	0.604
	ITPNet+LaneGCN	5.739	13.555	0.919	1.679	3.146	0.580