@article{scenecomplianttrajectoryforecastwith,
  title = {Scene Compliant Trajectory Forecast with Agent-Centric Spatio-Temporal Grids},
  author = {Daniela Ridel and Nachiket Deo and Denis Wolf and Mohan Trivedi},
  year = {2019},
  eprint = {1909.07507},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1909.07507v1},
}