Occ-Traj120: Occupancy Maps with Associated Trajectories
Trajectory modelling had been the principal research area for understanding and anticipating human behaviour. Predicting the dynamic path by observing the agent and its surrounding environment are essential for applications such as autonomous driving and indoor navigation suggestions. However, despite the numerous researches that had been presented, most available dataset does not contains any information on environmental factors---such as the occupancy representation of the map---which arguably plays a significant role on how an agent chooses its trajectory. We present a trajectory dataset with the corresponding occupancy representations of different local-maps. The dataset contains more than 120 locally-structured maps with occupancy representation and more than 110K trajectories in total. Each map has few hundred corresponding simulated trajectories that navigate from a spatial location of a room to another point. The dataset is freely available online.
Code (0)
등록된 구현이 없습니다.
Tasks
Autonomous DrivingNavigateSimilar Papers 제목 키워드 기반
End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Maps
In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth di…
Trajectory PredictionOutlier Detection for Trajectories via Flow-embeddings
We propose a method to detect outliers in empirically observed trajectories on a discrete or discretized manifold modeled by a simplicial complex. Our approach is similar to spectral embeddings such as diffusion-maps and…
Outlier DetectionActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo
Active scene reconstruction enables robots/UAVs to autonomously plan trajectories and reconstruct environments without costly manual data acquisition. Unlike passive methods, active reconstruction requires real-time cons…
Trajectory PlanningOn Energy Optimal Speed Trajectories: The Impact of Electric Powertrain Efficiency Characteristics
This paper investigates the effect of the powertrain efficiency map on energy optimal speed trajectories, especially stop-to-stop trajectories. A variety of different efficiency maps are explored and the energy optimizat…
StopNet: Scalable Trajectory and Occupancy Prediction for Urban Autonomous Driving
We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representatio…
Autonomous DrivingMotion Forecasting