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Conference Papers Year : 2020

Multi-Head Attention for Joint Multi-Modal Vehicle Motion Forecasting


This paper presents a novel vehicle motion forecasting method based on multi-head attention. It produces joint forecasts for all vehicles on a road scene as sequences of multi-modal probability density functions of their positions. Its architecture uses multi-head attention to account for complete interactions between all vehicles, and long short-term memory layers for encoding and forecasting. It relies solely on vehicle position tracks, does not need maneuver definitions, and does not represent the scene with a spatial grid. This allows it to be more versatile than similar model while combining many forecasting capabilities, namely joint forecast with interactions, uncertainty estimation, and multi-modality. The resulting prediction likelihood outperforms state-of-the-art models on the same dataset.


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hal-02860895 , version 1 (08-06-2020)


  • HAL Id : hal-02860895 , version 1


Jean Mercat, Thomas Gilles, Nicole El Zoghby, Guillaume Sandou, Dominique Beauvois, et al.. Multi-Head Attention for Joint Multi-Modal Vehicle Motion Forecasting. 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, Paris, France. ⟨hal-02860895⟩
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