# Learning State-Space Models for Mapping Spatial Motion Patterns

arXiv: https://arxiv.org/abs/2309.00333 · HTML: https://mlsanity.com/paper/2309.00333/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Sep 2023.

## Built on by (most cited first, 1 of 1)

- [Aion: Towards Hierarchical 4D Scene Graphs with Temporal Flow Dynamics](https://mlsanity.com/paper/2512.11903/) (2025)

## Abstract (arXiv)

Mapping the surrounding environment is essential for the successful operation of autonomous robots. While extensive research has focused on mapping geometric structures and static objects, the environment is also influenced by the movement of dynamic objects. Incorporating information about spatial motion patterns can allow mobile robots to navigate and operate successfully in populated areas. In this paper, we propose a deep state-space model that learns the map representations of spatial motion patterns and how they change over time at a certain place. To evaluate our methods, we use two different datasets: one generated dataset with specific motion patterns and another with real-world pedestrian data. We test the performance of our model by evaluating its learning ability, mapping quality, and application to downstream tasks. The results demonstrate that our model can effectively learn the corresponding motion pattern, and has the potential to be applied to robotic application tasks.