@article{bgmbuildingadynamicguidancemapwithout,
  title = {BGM: Building a Dynamic Guidance Map without Visual Images for Trajectory Prediction},
  author = {Beihao Xia and Conghao Wong and Heng Li and Shiming Chen and Qinmu Peng and Xinge You},
  year = {2020},
  eprint = {2010.03897},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2010.03897v1},
}