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Spectral Temporal Graph Neural Network for Trajectory Prediction

arXiv 2106.02930 ↗First posted 5 Jun 2021cs.CV cs.AI cs.LGcited by 36

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Abstract (arXiv)

An effective understanding of the contextual environment and accurate motion forecasting of surrounding agents is crucial for the development of autonomous vehicles and social mobile robots. This task is challenging since the behavior of an autonomous agent is not only affected by its own intention, but also by the static environment and surrounding dynamically interacting agents. Previous works focused on utilizing the spatial and temporal information in time domain while not sufficiently taking advantage of the cues in frequency domain. To this end, we propose a Spectral Temporal Graph Neural Network (SpecTGNN), which can capture inter-agent correlations and temporal dependency simultaneously in frequency domain in addition to time domain. SpecTGNN operates on both an agent graph with dynamic state information and an environment graph with the features extracted from context images in two streams. The model integrates graph Fourier transform, spectral graph convolution and temporal gated convolution to encode history information and forecast future trajectories. Moreover, we incorporate a multi-head spatio-temporal attention mechanism to mitigate the effect of error propagation in a long time horizon. We demonstrate the performance of SpecTGNN on two public trajectory prediction benchmark datasets, which achieves state-of-the-art performance in terms of prediction accuracy.

Key facts. Cited by 36 papers in the map (data through 14 Oct 2026). Builds on 36 of its 43 references that are in the map. First posted on arXiv 5 Jun 2021.

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36 of 43 references.

References · 36

  1. 2014Very Deep Convolutional Networks for Large-Scale Image Recognitioncited by 15,364
  2. 2016Semi-Supervised Classification with Graph Convolutional Networkscited by 11,361
  3. 2017Graph Attention Networkscited by 8,923
  4. 2017Inductive Representation Learning on Large Graphscited by 6,320
  5. 2019A Comprehensive Survey on Graph Neural Networkscited by 2,919
  6. 2016Convolutional Neural Networks on Graphs with Fast Localized Spectral Filteringcited by 2,089
  7. 2018Graph Neural Networks: A Review of Methods and Applicationscited by 1,576
  8. 2018Spatial Temporal Graph Convolutional Networks for Skeleton-Based Action Recognitioncited by 1,209
  9. 2017Spatio-Temporal Graph Convolutional Networks: A Deep Learning Framework for Traffic Forecastingcited by 1,136
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24 more
  1. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 325
  2. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  3. 2021Spectral Temporal Graph Neural Network for Multivariate Time-series Forecastingcited by 299
  4. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 298
  5. 2018Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networkscited by 289
  6. 2020It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Predictioncited by 236
  7. 2020Multivariate Time-series Anomaly Detection via Graph Attention Networkcited by 167
  8. 2019Multi-Agent Tensor Fusion for Contextual Trajectory Predictioncited by 131
  9. 2019Rules of the Road: Predicting Driving Behavior with a Convolutional Model of Semantic Interactionscited by 117
  10. 2019Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Datacited by 104
  11. 2018Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMscited by 77
  12. 2019Conditional Generative Neural System for Probabilistic Trajectory Predictioncited by 76
  13. 2020Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Planscited by 72
  14. 2017Soft + Hardwired Attention: An LSTM Framework for Human Trajectory Prediction and Abnormal Event Detectioncited by 42
  15. 2019Conditional Flow Variational Autoencoders for Structured Sequence Predictioncited by 37
  16. 2020Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal Relationshipscited by 37
  17. 2017CAR-Net: Clairvoyant Attentive Recurrent Networkcited by 34
  18. 2020Shared Cross-Modal Trajectory Prediction for Autonomous Drivingcited by 31
  19. 2018Naturalistic Driver Intention and Path Prediction using Recurrent Neural Networkscited by 29
  20. 2018An Evaluation of Trajectory Prediction Approaches and Notes on the TrajNet Benchmarkcited by 16
  21. 2019Interaction-aware Multi-agent Tracking and Probabilistic Behavior Prediction via Adversarial Learningcited by 15
  22. 2019Stochastic trajectory prediction with social graph networkcited by 9
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  24. 2018Towards a Fatality-Aware Benchmark of Probabilistic Reaction Prediction in Highly Interactive Driving Scenarioscited by 3

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 4; 2022: 3; 2023: 12; 2024: 7; 2025: 5; 2026: 5.

36 papers.

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  1. 2023A Comprehensive Survey on Deep Graph Representation Learningcited by 72
  2. 2023Leveraging Future Relationship Reasoning for Vehicle Trajectory Predictioncited by 48
  3. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 45
  4. 2025UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Drivingcited by 28
  5. 2023SocialCircle: Learning the Angle-based Social Interaction Representation for Pedestrian Trajectory Predictioncited by 27
  6. 2021MSN: Multi-Style Network for Trajectory Predictioncited by 19
  7. 2021Bridging the Gap between Spatial and Spectral Domains: A Unified Framework for Graph Neural Networkscited by 19
  8. 2023Estimating Treatment Effects from Irregular Time Series Observations with Hidden Confounderscited by 17
  9. 2026TemporalBench: A Benchmark for Evaluating LLM-Based Agents on Contextual and Event-Informed Time Series Taskscited by 17
  10. 2023Another Vertical View: A Hierarchical Network for Heterogeneous Trajectory Prediction via Spectrumscited by 14
  11. 2023Scene Informer: Anchor-based Occlusion Inference and Trajectory Prediction in Partially Observable Environmentscited by 14
  12. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
24 more
  1. 2024Reliable Trajectory Prediction and Uncertainty Quantification with Conditioned Diffusion Modelscited by 13
  2. 2023Pedestrian Crossing Action Recognition and Trajectory Prediction with 3D Human Keypointscited by 12
  3. 2023Coupled Multiwavelet Neural Operator Learning for Coupled Partial Differential Equationscited by 11
  4. 2023Holistic Graph-based Motion Predictioncited by 10
  5. 2023A Multidimensional Graph Fourier Transformation Neural Network for Vehicle Trajectory Predictioncited by 8
  6. 2024SocialCircle+: Learning the Angle-based Conditioned Interaction Representation for Pedestrian Trajectory Predictioncited by 7
  7. 2022DSLOB: A Synthetic Limit Order Book Dataset for Benchmarking Forecasting Algorithms under Distributional Shiftcited by 6
  8. 2023Equivariant Map and Agent Geometry for Autonomous Driving Motion Predictioncited by 6
  9. 2024Certified Human Trajectory Predictioncited by 6
  10. 2024SocialFormer: Social Interaction Modeling with Edge-enhanced Heterogeneous Graph Transformers for Trajectory Predictioncited by 5
  11. 2025TrajEvo: Trajectory Prediction Heuristics Design via LLM-driven Evolutioncited by 5
  12. 2022Towards trustworthy multi-modal motion prediction: Holistic evaluation and interpretability of outputscited by 4
  13. 2023Prediction and Interpretation of Vehicle Trajectories in the Graph Spectral Domaincited by 4
  14. 2021Optimal Solving of Constrained Path-Planning Problems with Graph Convolutional Networks and Optimized Tree Searchcited by 3
  15. 2022Conquering Ghosts: Relation Learning for Information Reliability Representation and End-to-End Robust Navigationcited by 3
  16. 2024Spectral GNN via Two-dimensional (2-D) Graph Convolutioncited by 3
  17. 2024Who Walks With You Matters: Perceiving Social Interactions with Groups for Pedestrian Trajectory Predictioncited by 3
  18. 2024TrajLearn: Trajectory Prediction Learning using Deep Generative Modelscited by 1
  19. 2025Reverberation: Learning the Latencies Before Forecasting Trajectoriescited by 1
  20. 2025Towards Autonomous Riding: A Review of Perception, Planning, and Control in Intelligent Two-Wheelerscited by 0
  21. 2026FoSS: Modeling Long Range Dependencies and Multimodal Uncertainty in Trajectory Prediction via Fourier State Space Integrationcited by 0
  22. 2026Encore: Conditioning Trajectory Forecasting via Biased Ego Rehearsalscited by 0
  23. 2026Speaking Numbers to LLMs: Multi-Wavelet Number Embeddings for Time Series Forecastingcited by 0
  24. 2026Coarse-to-Fine Multi-Resolution Diffusion Models for Trajectory Generation in Urban Systemscited by 0