Trajectory prediction for dynamic agents
AssigneeFive AI Limited
InventorsAnthony Knittel, Morris Antonello
Life of this patent
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Abstract
A computer-implemented method of predicting an agent trajectory in a world space, the method comprising: receiving a visual input comprising an image of the agent in an image space, extracting from the visual input using a visual feature extractor a set of visual features, receiving a trajectory history input comprising an observed trajectory of the agent in the world space, extracting from the trajectory history input a set of trajectory features, and generating, based on the set of visual features and the set of trajectory features, a prediction output comprising a predicted trajectory for the agent in the world space.
Claims31
A computer-implemented method of predicting an agent trajectory in a world space, the method comprising:
- receiving a visual input comprising an image of the agent in an image space;
- extracting from the visual input using a visual feature extractor a set of visual features;
- receiving a trajectory history input comprising an observed trajectory of the agent in the world space;
- extracting from the trajectory history input a set of trajectory features;
- and
- generating, based on the set of visual features and the set of trajectory features, a prediction output comprising a predicted trajectory for the agent in the world space.
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A computer-implemented method of training a machine learning visual feature extractor, the method comprising:
- receiving a training image of an agent in an image space;
- receiving a known trajectory in a world space associated with the training image;
- automatically determining a motion state ground truth associated with the training image based on the trajectory in the world space;
- and
- extracting using the visual feature extractor a set of visual features from the training image;
- using the extracted visual features to compute a predicted motion state;
- and
- training the visual feature extractor based on the predicted motion state and the ground truth motion state.
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A non-transitory computer readable medium embodying computer program instructions, the computer program instructions configured so as, when executed on one or more hardware processors, to implement operations comprising:
- receiving a visual input comprising an image of an agent in an image space;
- extracting from the visual input using a visual feature extractor a set of visual features;
- receiving a trajectory history input comprising an observed trajectory of the agent in a world space;
- extracting from the trajectory history input a set of trajectory features;
- and
- generating, based on the set of visual features and the set of trajectory features, a prediction output comprising a predicted trajectory for the agent in the world space.
A computer system for predicting an agent trajectory in a world space, the computer system comprising:
- at least one memory storing computer-readable instructions;
- and
- at least one processor coupled to the at least one memory configured to execute the computer-readable instructions, which upon execution cause the at least one processor to:
- receive a visual input comprising an image of the agent in an image space;
- extract from the visual input using a visual feature extractor a set of visual features;
- receive a trajectory history input comprising an observed trajectory of the agent in the world space;
- extract from the trajectory history input a set of trajectory features;
- and
- generate, based on the set of visual features and the set of trajectory features, a prediction output comprising a predicted trajectory for the agent in the world space.
Dependencies are inferred from the claim text.