# Spatial-Channel Transformer Network for Trajectory Prediction on the Traffic Scenes

arXiv: https://arxiv.org/abs/2101.11472 · HTML: https://mlsanity.com/paper/2101.11472/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 15 of its 20 references that are in the map.
- First posted on arXiv 27 Jan 2021.

## Builds on (most cited first, 15 of 15)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [Sequence to Sequence Learning with Neural Networks](https://mlsanity.com/paper/1409.3215/) (2014)
- [Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modeling](https://mlsanity.com/paper/1412.3555/) (2014)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Prediction](https://mlsanity.com/paper/2002.11927/) (2020)
- [SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraints](https://mlsanity.com/paper/1806.01482/) (2018)
- [Fast and Furious: Real Time End-to-End 3D Detection, Tracking and Motion Forecasting with a Single Convolutional Net](https://mlsanity.com/paper/2012.12395/) (2020)
- [Convolutional Social Pooling for Vehicle Trajectory Prediction](https://mlsanity.com/paper/1805.06771/) (2018)
- [Social Attention: Modeling Attention in Human Crowds](https://mlsanity.com/paper/1710.04689/) (2017)
- [SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Prediction](https://mlsanity.com/paper/1903.02793/) (2019)
- [Particle Filter Recurrent Neural Networks](https://mlsanity.com/paper/1905.12885/) (2019)
- [Differentiable Algorithm Networks for Composable Robot Learning](https://mlsanity.com/paper/1905.11602/) (2019)
- [An Evaluation of Trajectory Prediction Approaches and Notes on the TrajNet Benchmark](https://mlsanity.com/paper/1805.07663/) (2018)

## Built on by (most cited first, 5 of 5)

- [Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directions](https://mlsanity.com/paper/2307.07527/) (2023)
- [Spatial-Temporal-Aware Safe Multi-Agent Reinforcement Learning of Connected Autonomous Vehicles in Challenging Scenarios](https://mlsanity.com/paper/2210.02300/) (2022)
- [SST: A Simplified Swin Transformer-based Model for Taxi Destination Prediction based on Existing Trajectory](https://mlsanity.com/paper/2308.07555/) (2023)
- [Target-point Attention Transformer: A novel trajectory predict network for end-to-end autonomous driving](https://mlsanity.com/paper/2308.01496/) (2023)
- [C2INet: Realizing Incremental Trajectory Prediction with Prior-Aware Continual Causal Intervention](https://mlsanity.com/paper/2411.12313/) (2024)

## Abstract (arXiv)

Predicting motion of surrounding agents is critical to real-world applications of tactical path planning for autonomous driving. Due to the complex temporal dependencies and social interactions of agents, on-line trajectory prediction is a challenging task. With the development of attention mechanism in recent years, transformer model has been applied in natural language sequence processing first and then image processing. In this paper, we present a Spatial-Channel Transformer Network for trajectory prediction with attention functions. Instead of RNN models, we employ transformer model to capture the spatial-temporal features of agents. A channel-wise module is inserted to measure the social interaction between agents. We find that the Spatial-Channel Transformer Network achieves promising results on real-world trajectory prediction datasets on the traffic scenes.