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

Claim 9:
10. The system of claim 8, wherein the future trajectory module further includes instructions that, when executed by the one or more processors causes 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.