Trajectory Prediction in Heterogeneous Environment via Attended Ecology Embedding

Trajectory prediction is a highly desirable feature for safe navigation or autonomous vehicle in complex traffic. In this paper, we consider the practical environment of predicting trajectory in the heterogeneous traffic ecology. The proposed method has various applications in trajectory prediction problems and also in applied fields beyond tracking. One challenge stands out of the trajectory prediction-heterogeneous environment. Particularly, many factors should be considered in the environments, i.e., multiple types of road-agents, social interactions and terrains. The information is complicated and large that may result in inaccurate trajectory prediction. We propose two social and visual enforced attention modules to circumvent the problem and a variant of an Info-GAN structure to predict the trajectory with multi-modal behaviors. Experimental results show that the proposed method significantly outperforms state-of-the-art methods in both heterogeneous and homogeneous real environments.