image which you need the a pretty accurate estimate of the robots trajectory to do you can and then on the top right is actual output of a deep network that predicts the pixels of this person instance at that time step and then the bottom right is just that's just the top-down view of where where the drone was and where the person was and then the red vector was it's just an estimate of the velocity so like what's in a linear sense where where's that person gonna go in the next next a little bit cool so the way we do this is