Trajectory prediction on top-down scenes and associated model

One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

• receiving map data associated with an environment;
• receiving sensor data from a sensor associated with a vehicle in the environment;
• determining, based at least in part on the sensor data, object data associated with an object in the environment, the object data comprising at least one of a semantic label of the object, a class associated with the object, a bounding box representing the object, a velocity of the object, or an acceleration of the object;
• determining, based at least in part on the object data, the map data, and the sensor data, a multi-channel data structure, wherein channels of the multi-channel data structure encode different information, the information encoded by an individual channel comprising at least one of the map data, the object data, or the sensor data;
• determining, based at least in part on the object data and the map data multi-channel data structure, a prediction probability associated with movement of the object in the environment;
• and
• controlling, based at least in part on the prediction probability, the vehicle to traverse the environment.

A method comprising:

• receiving map data associated with an environment;
• receiving sensor data from a sensor associated with a vehicle in the environment;
• determining, based at least in part on the sensor data, object data associated with an object in the environment, the object data comprising at least one of a semantic label of the object, a class associated with the object, a bounding box representing the object, a velocity of the object, or an acceleration of the object;
• determining, based at least in part on the object data, the map data, and the sensor data, a multi-channel data structure, wherein channels of the multi-channel data structure encode different information, the information encoded by an individual channel comprising at least one of the map data, the object data, or the sensor data;
• determining, based at least in part on the multi-channel data structure, a prediction probability associated with movement of the object in the environment;
• and
• controlling, based at least in part on the prediction probability, the vehicle to traverse the environment.