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

Claim 14:
15. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:
obtain sensor data of a scene having a plurality of pedestrians;
encode prior trajectory points of the plurality of pedestrians using a past trajectory encoder to generate a motion history for the plurality of pedestrians;
sample, by a latent encoder, possible future endpoints of the plurality of pedestrians from a latent distribution, the latent encoder being part of a convolutional variational autoencoder; and
generate endpoint distributions of the plurality of pedestrians by a latent decoder using the possible future endpoints and the motion history for the plurality of pedestrians, the latent decoder being part of the convolutional variational autoencoder, the endpoint distributions representing desired end destinations of the plurality of pedestrians from the scene; and
determine future trajectory points for at least one of the plurality of pedestrians based on prior trajectory points of the plurality of pedestrians and the endpoint distributions of the plurality of pedestrians.