mlsanityData to 7 Oct 2026

TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactions

arXiv 1812.04767 ↗First posted 12 Dec 2018cs.ROcited by 82

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Abstract (arXiv)

We present a new algorithm for predicting the near-term trajectories of road-agents in dense traffic videos. Our approach is designed for heterogeneous traffic, where the road-agents may correspond to buses, cars, scooters, bicycles, or pedestrians. We model the interactions between different road-agents using a novel LSTM-CNN hybrid network for trajectory prediction. In particular, we take into account heterogeneous interactions that implicitly accounts for the varying shapes, dynamics, and behaviors of different road agents. In addition, we model horizon-based interactions which are used to implicitly model the driving behavior of each road-agent. We evaluate the performance of our prediction algorithm, TraPHic, on the standard datasets and also introduce a new dense, heterogeneous traffic dataset corresponding to urban Asian videos and agent trajectories. We outperform state-of-the-art methods on dense traffic datasets by 30%.

Key facts. Cited by 82 papers in the map (data through 7 Oct 2026). First posted on arXiv 12 Dec 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 22; 2022: 14; 2023: 17; 2024: 10; 2025: 12; 2026: 7.

82 papers.

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  1. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectoriescited by 165
  2. 2022On Adversarial Robustness of Trajectory Prediction for Autonomous Vehiclescited by 89
  3. 2022SocialVAE: Human Trajectory Prediction using Timewise Latentscited by 65
  4. 2021Video Prediction Recalling Long-term Motion Context via Memory Alignment Learningcited by 62
  5. 2021ROAD: The ROad event Awareness Dataset for Autonomous Drivingcited by 54
  6. 2023A Dynamic Multi-Scale Voxel Flow Network for Video Predictioncited by 53
  7. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  8. 2021Human Trajectory Prediction via Counterfactual Analysiscited by 42
  9. 2022STCrowd: A Multimodal Dataset for Pedestrian Perception in Crowded Scenescited by 35
  10. 2021CausalCity: Complex Simulations with Agency for Causal Discovery and Reasoningcited by 23
  11. 2022PedFormer: Pedestrian Behavior Prediction via Cross-Modal Attention Modulation and Gated Multitask Learningcited by 23
  12. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
38 more
  1. 2022S2TNet: Spatio-Temporal Transformer Networks for Trajectory Prediction in Autonomous Drivingcited by 22
  2. 2021Variational Autoencoder-Based Vehicle Trajectory Prediction with an Interpretable Latent Spacecited by 20
  3. 2024T4P: Test-Time Training of Trajectory Prediction via Masked Autoencoder and Actor-specific Token Memorycited by 20
  4. 2022LatentFormer: Multi-Agent Transformer-Based Interaction Modeling and Trajectory Predictioncited by 19
  5. 2023Pedestrian Trajectory Prediction in Pedestrian-Vehicle Mixed Environments: A Systematic Reviewcited by 18
  6. 2021Unlimited Neighborhood Interaction for Heterogeneous Trajectory Predictioncited by 17
  7. 2021Propagating State Uncertainty Through Trajectory Forecastingcited by 17
  8. 2021Egocentric Human Trajectory Forecasting with a Wearable Camera and Multi-Modal Fusioncited by 17
  9. 2021SCOUT: Socially-COnsistent and UndersTandable Graph Attention Network for Trajectory Prediction of Vehicles and VRUscited by 16
  10. 2021Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centerscited by 16
  11. 2023Another Vertical View: A Hierarchical Network for Heterogeneous Trajectory Prediction via Spectrumscited by 14
  12. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  13. 2021baller2vec++: A Look-Ahead Multi-Entity Transformer For Modeling Coordinated Agentscited by 12
  14. 2023A Novel Benchmarking Paradigm and a Scale- and Motion-Aware Model for Egocentric Pedestrian Trajectory Predictioncited by 12
  15. 2023RiskBench: A Scenario-based Benchmark for Risk Identificationcited by 12
  16. 2021METEOR:A Dense, Heterogeneous, and Unstructured Traffic Dataset With Rare Behaviorscited by 11
  17. 2022Heterogeneous Trajectory Forecasting via Risk and Scene Graph Learningcited by 11
  18. 2022D2-TPred: Discontinuous Dependency for Trajectory Prediction under Traffic Lightscited by 10
  19. 2023EPG-MGCN: Ego-Planning Guided Multi-Graph Convolutional Network for Heterogeneous Agent Trajectory Predictioncited by 10
  20. 2021DROID: Driver-centric Risk Object Identificationcited by 9
  21. 2022Trajectory Forecasting from Detection with Uncertainty-Aware Motion Encodingcited by 8
  22. 2024Pedestrian Trajectory Prediction with Missing Data: Datasets, Imputation, and Benchmarkingcited by 8
  23. 2021Social-IWSTCNN: A Social Interaction-Weighted Spatio-Temporal Convolutional Neural Network for Pedestrian Trajectory Prediction in Urban Traffic Scenarioscited by 7
  24. 2022Learning the Pedestrian-Vehicle Interaction for Pedestrian Trajectory Predictioncited by 7
  25. 2022Deep Learning based Computer Vision Methods for Complex Traffic Environments Perception: A Reviewcited by 7
  26. 2021Multi-modal Trajectory Prediction for Autonomous Driving with Semantic Map and Dynamic Graph Attention Networkcited by 6
  27. 2024Multi-Agent Inverse Reinforcement Learning in Real World Unstructured Pedestrian Crowdscited by 6
  28. 2024Generating Traffic Scenarios via In-Context Learning to Learn Better Motion Plannercited by 6
  29. 2023iPLAN: Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learningcited by 5
  30. 2025ParkDiffusion: Heterogeneous Multi-Agent Multi-Modal Trajectory Prediction for Automated Parking using Diffusion Modelscited by 5
  31. 2021Indoor Future Person Localization from an Egocentric Wearable Cameracited by 4
  32. 2022Cross-modal Contrastive Distillation for Instructional Activity Anticipationcited by 4
  33. 2023Learning Road Scene-level Representations via Semantic Region Predictioncited by 4
  34. 2023A POV-based Highway Vehicle Trajectory Dataset and Prediction Architecturecited by 4
  35. 2023How Does Traffic Environment Quantitatively Affect the Autonomous Driving Prediction?cited by 3
  36. 2023Towards Safe Autonomy in Hybrid Traffic: Detecting Unpredictable Abnormal Behaviors of Human Drivers via Information Sharingcited by 3
  37. 2024StreamMOTP: Streaming and Unified Framework for Joint 3D Multi-Object Tracking and Trajectory Predictioncited by 3
  38. 2024Building Real-time Awareness of Out-of-distribution in Trajectory Prediction for Autonomous Vehiclescited by 3

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