Patent ID: 11878684
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 15:
16. The non-transitory computer-readable medium of claim 15, further storing instructions that, when executed by one or more processors, cause the one or more processors to:
encode the endpoint distributions of the plurality of pedestrians by an endpoint decoder to generate encodings for the endpoint distributions of the plurality of pedestrians;
concatenate the encodings for the endpoint distributions of the plurality of pedestrians with a motion history for the plurality of pedestrians to generate a plurality of concatenations;
pass the plurality of concatenations through one or more rounds of pooling using a social pooling mask for the plurality of pedestrians jointly within the scene to generate pooled features; and
pass the pooled features though a prediction network to generate the future trajectory points for at least one of the plurality of pedestrians.