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Human Motion Trajectory Prediction: A Survey

arXiv 1905.06113 ↗First posted 15 May 2019cs.RO cs.CV cs.LGcited by 231

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Abstract (arXiv)

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.

Key facts. Cited by 231 papers in the map (data through 7 Oct 2026). First posted on arXiv 15 May 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 56; 2022: 36; 2023: 35; 2024: 41; 2025: 40; 2026: 23.

231 papers.

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  1. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  2. 2023Decoupling Human and Camera Motion from Videos in the Wildcited by 140
  3. 2023Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusioncited by 137
  4. 2023Human Motion Generation: A Surveycited by 95
  5. 2022BeLFusion: Latent Diffusion for Behavior-Driven Human Motion Predictioncited by 82
  6. 2022BITS: Bi-level Imitation for Traffic Simulationcited by 80
  7. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  8. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  9. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  10. 2021ROAD: The ROad event Awareness Dataset for Autonomous Drivingcited by 54
  11. 2023EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecastingcited by 41
  12. 2022Social-Implicit: Rethinking Trajectory Prediction Evaluation and The Effectiveness of Implicit Maximum Likelihood Estimationcited by 40
38 more
  1. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  2. 2022DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehiclescited by 36
  3. 2021Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Trackingcited by 35
  4. 2022How many Observations are Enough? Knowledge Distillation for Trajectory Forecastingcited by 35
  5. 2021Imagining The Road Ahead: Multi-Agent Trajectory Prediction via Differentiable Simulationcited by 32
  6. 2024Producing and Leveraging Online Map Uncertainty in Trajectory Predictioncited by 32
  7. 2021Personalized Trajectory Prediction via Distribution Discriminationcited by 30
  8. 2021Review of Pedestrian Trajectory Prediction Methods: Comparing Deep Learning and Knowledge-based Approachescited by 30
  9. 2021Investigating Pose Representations and Motion Contexts Modeling for 3D Motion Predictioncited by 30
  10. 2022Behavioral Intention Prediction in Driving Scenes: A Surveycited by 30
  11. 2022Goal-driven Self-Attentive Recurrent Networks for Trajectory Predictioncited by 28
  12. 2023Fast Inference and Update of Probabilistic Density Estimation on Trajectory Predictioncited by 27
  13. 2025UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Drivingcited by 27
  14. 2023Convolutional Learning on Simplicial Complexescited by 26
  15. 2023trajdata: A Unified Interface to Multiple Human Trajectory Datasetscited by 25
  16. 2021A Survey on Human-aware Robot Navigationcited by 23
  17. 2022Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learningcited by 23
  18. 2021Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perceptioncited by 22
  19. 2021Learning by Watchingcited by 22
  20. 2022End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Mapscited by 22
  21. 2022Interpretable Self-Aware Neural Networks for Robust Trajectory Predictioncited by 22
  22. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
  23. 2021Levels of explainable artificial intelligence for human-aligned conversational explanationscited by 21
  24. 2021Injecting Planning-Awareness into Prediction and Detection Evaluationcited by 21
  25. 2024Multi-Transmotion: Pre-trained Model for Human Motion Predictioncited by 21
  26. 2021TrAISformer -- A Transformer Network with Sparse Augmented Data Representation and Cross Entropy Loss for AIS-based Vessel Trajectory Predictioncited by 20
  27. 2022Transferable and Adaptable Driving Behavior Predictioncited by 20
  28. 2024Multi-Agent Dynamic Relational Reasoning for Social Robot Navigationcited by 20
  29. 2021Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertaintycited by 19
  30. 2021MSN: Multi-Style Network for Trajectory Predictioncited by 19
  31. 2021Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecastingcited by 19
  32. 2021Trajectory Prediction with Graph-based Dual-scale Context Fusioncited by 19
  33. 2023Pedestrian Trajectory Prediction in Pedestrian-Vehicle Mixed Environments: A Systematic Reviewcited by 18
  34. 2021Propagating State Uncertainty Through Trajectory Forecastingcited by 17
  35. 2023OSDaR23: Open Sensor Data for Rail 2023cited by 17
  36. 2023Coaching a Teachable Studentcited by 17
  37. 2023What Truly Matters in Trajectory Prediction for Autonomous Driving?cited by 17
  38. 2021Diverse Critical Interaction Generation for Planning and Planner Evaluationcited by 15

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