197 research outputs found

    Stochastic Occupancy Grid Map Prediction in Dynamic Scenes

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    This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to predict a range of possible future states of the environment. The algorithm takes full advantage of the motion of the robot itself, the motion of dynamic objects, and the geometry of static objects in the scene to improve prediction accuracy. Three simulated and real-world datasets collected by different robot models are used to demonstrate that the proposed algorithm is able to achieve more accurate and robust prediction performance than other prediction algorithms. Furthermore, a predictive uncertainty-aware planner is proposed to demonstrate the effectiveness of the proposed predictor in simulation and real-world navigation experiments. Implementations are open source at https://github.com/TempleRAIL/SOGMP.Comment: Accepted by 7th Annual Conference on Robot Learning (CoRL), 202

    Deep Learning-based Vehicle Behaviour Prediction For Autonomous Driving Applications: A Review

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    Behaviour prediction function of an autonomous vehicle predicts the future states of the nearby vehicles based on the current and past observations of the surrounding environment. This helps enhance their awareness of the imminent hazards. However, conventional behaviour prediction solutions are applicable in simple driving scenarios that require short prediction horizons. Most recently, deep learning-based approaches have become popular due to their superior performance in more complex environments compared to the conventional approaches. Motivated by this increased popularity, we provide a comprehensive review of the state-of-the-art of deep learning-based approaches for vehicle behaviour prediction in this paper. We firstly give an overview of the generic problem of vehicle behaviour prediction and discuss its challenges, followed by classification and review of the most recent deep learning-based solutions based on three criteria: input representation, output type, and prediction method. The paper also discusses the performance of several well-known solutions, identifies the research gaps in the literature and outlines potential new research directions
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