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

Claim 7:
8. A trajectory prediction system comprising:
one or more processors; and
a memory in communication with the one or more processors, the memory having:
a sensor input module, the sensor input module having instructions that, when executed by the one or more processors, causes the one or more processors to receive sensor data of a scene having a plurality of pedestrians,
an endpoint distribution module having instructions that, when executed by the one or more processors, causes the one or more processors to: encode prior trajectory points of a 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
a future trajectory module having instructions that, when executed by the one or more processors causes the one or more processors to 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.