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

Claim 2:
3. The method of claim 1, wherein the step of determining future trajectory points further comprises the steps of:
encoding the endpoint distributions of the plurality of pedestrians by an endpoint decoder to generate encodings for the endpoint distributions of the plurality of pedestrians;
concatenating 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;
passing 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
passing the pooled features though a prediction network to generate the future trajectory points for at least one of the plurality of pedestrians.