mlsanityData to 14 Oct 2026

MotionCNN: A Strong Baseline for Motion Prediction in Autonomous Driving

arXiv 2206.02163 ↗First posted 5 Jun 2022cs.CVcited by 21

Not on the map. Why?

Abstract (arXiv)

To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task that recently gained significant attention within the research community. In this work, we present a simple and yet very strong baseline for multimodal motion prediction based purely on Convolutional Neural Networks. While being easy-to-implement, the proposed approach achieves competitive performance compared to the state-of-the-art methods and ranks 3rd on the 2021 Waymo Open Dataset Motion Prediction Challenge. Our source code is publicly available at GitHub

Key facts. Cited by 21 papers in the map (data through 14 Oct 2026). Builds on 18 of its 24 references that are in the map. First posted on arXiv 5 Jun 2022.

Builds on

18 of 24 references.

References · 18

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2014ImageNet Large Scale Visual Recognition Challengecited by 8,498
  3. 2016SGDR: Stochastic Gradient Descent with Warm Restartscited by 5,045
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  5. 2016Xception: Deep Learning with Depthwise Separable Convolutionscited by 2,332
  6. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 537
  7. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 530
  8. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 420
  9. 2020TNT: Target-driveN Trajectory Predictioncited by 347
  10. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  11. 2018Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networkscited by 289
  12. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
6 more
  1. 2021IntentNet: Learning to Predict Intention from Raw Sensor Datacited by 158
  2. 2021Offboard 3D Object Detection from Point Cloud Sequencescited by 145
  3. 2019Rules of the Road: Predicting Driving Behavior with a Convolutional Model of Semantic Interactionscited by 117
  4. 2019Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Datacited by 104
  5. 2021Auto4D: Learning to Label 4D Objects from Sequential Point Cloudscited by 42
  6. 2021DenseTNT: Waymo Open Dataset Motion Prediction Challenge 1st Place Solutioncited by 14

Built on by

Cited by year

Citing papers per year: 2022: 5; 2023: 10; 2024: 3; 2025: 3.

21 papers.

Sort:

By area:

  1. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 270
  2. 2023MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Queryingcited by 140
  3. 2022BITS: Bi-level Imitation for Traffic Simulationcited by 80
  4. 2023ADAPT: Efficient Multi-Agent Trajectory Prediction with Adaptationcited by 41
  5. 2023MacFormer: Map-Agent Coupled Transformer for Real-time and Robust Trajectory Predictioncited by 32
  6. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  7. 2023EDA: Evolving and Distinct Anchors for Multimodal Motion Predictioncited by 17
  8. 2022MPA: MultiPath++ Based Architecture for Motion Predictioncited by 13
  9. 2023Context-Aware Timewise VAEs for Real-Time Vehicle Trajectory Predictioncited by 12
  10. 2024OFMPNet: Deep End-to-End Model for Occupancy and Flow Prediction in Urban Environmentcited by 8
  11. 2024MoST: Multi-modality Scene Tokenization for Motion Predictioncited by 8
  12. 2025TrajFlow: Multi-modal Motion Prediction via Flow Matchingcited by 8
9 more
  1. 2023RedMotion: Motion Prediction via Redundancy Reductioncited by 6
  2. 2022Scenario-based Evaluation of Prediction Models for Automated Vehiclescited by 4
  3. 2022Towards trustworthy multi-modal motion prediction: Holistic evaluation and interpretability of outputscited by 4
  4. 2023Robustness Benchmark of Road User Trajectory Prediction Models for Automated Drivingcited by 1
  5. 2023Interpretable Long Term Waypoint-Based Trajectory Prediction Modelcited by 1
  6. 2024Reliable Probabilistic Human Trajectory Prediction for Autonomous Applicationscited by 1
  7. 2023Kraken: enabling joint trajectory prediction by utilizing Mode Transformer and Greedy Mode Processingcited by 0
  8. 2025HeLoFusion: An Efficient and Scalable Encoder for Modeling Heterogeneous and Multi-Scale Interactions in Trajectory Predictioncited by 0
  9. 2025KoopCast: Trajectory Forecasting via Koopman Operatorscited by 0