ViP3D: End-to-End Visual Trajectory Prediction via 3D Agent Queries

and predict throughout the pipeline, making it the first fully differentiable vision-based trajectory prediction approach. Instead of using historical feature maps and trajectories, useful information from previous timestamps is encoded in agent queries, which makes ViP3D a concise streaming prediction method. Furthermore, extensive experimental results on the nuScenes dataset show the strong vision-based prediction performance of ViP3D over traditional pipelines and previous end-to-end models. 1