# Layout Sequence Prediction From Noisy Mobile Modality

arXiv: https://arxiv.org/abs/2310.06138 · HTML: https://mlsanity.com/paper/2310.06138/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 41 references that are in the map.
- First posted on arXiv 9 Oct 2023.

## Builds on (most cited first, 13 of 13)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Stochastic Trajectory Prediction via Motion Indeterminacy Diffusion](https://mlsanity.com/paper/2203.13777/) (2022)
- [Transformer Networks for Trajectory Forecasting](https://mlsanity.com/paper/2003.08111/) (2020)
- [Peeking into the Future: Predicting Future Person Activities and Locations in Videos](https://mlsanity.com/paper/1902.03748/) (2019)
- [TPCN: Temporal Point Cloud Networks for Motion Forecasting](https://mlsanity.com/paper/2103.03067/) (2021)
- [The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenes](https://mlsanity.com/paper/1903.01568/) (2019)
- [Graph-based Spatial Transformer with Memory Replay for Multi-future Pedestrian Trajectory Prediction](https://mlsanity.com/paper/2206.05712/) (2022)
- [User Trajectory Prediction in Mobile Wireless Networks Using Quantum Reservoir Computing](https://mlsanity.com/paper/2301.08796/) (2023)
- [Time-series Imputation of Temporally-occluded Multiagent Trajectories](https://mlsanity.com/paper/2106.04219/) (2021)
- [Vision Meets Wireless Positioning: Effective Person Re-identification with Recurrent Context Propagation](https://mlsanity.com/paper/2008.04146/) (2020)
- [A Mathematical Framework for IMU Error Propagation with Applications to Preintegration](https://mlsanity.com/paper/2003.03908/) (2020)

## Built on by (most cited first, 3 of 3)

- [MagicPose4D: Crafting Articulated Models with Appearance and Motion Control](https://mlsanity.com/paper/2405.14017/) (2024)
- [OOSTraj: Out-of-Sight Trajectory Prediction With Vision-Positioning Denoising](https://mlsanity.com/paper/2404.02227/) (2024)
- [V2X-RECT: An Efficient V2X Trajectory Prediction Framework via Redundant Interaction Filtering and Tracking Error Correction](https://mlsanity.com/paper/2511.17941/) (2025)

## Abstract (arXiv)

Trajectory prediction plays a vital role in understanding pedestrian movement for applications such as autonomous driving and robotics. Current trajectory prediction models depend on long, complete, and accurately observed sequences from visual modalities. Nevertheless, real-world situations often involve obstructed cameras, missed objects, or objects out of sight due to environmental factors, leading to incomplete or noisy trajectories. To overcome these limitations, we propose LTrajDiff, a novel approach that treats objects obstructed or out of sight as equally important as those with fully visible trajectories. LTrajDiff utilizes sensor data from mobile phones to surmount out-of-sight constraints, albeit introducing new challenges such as modality fusion, noisy data, and the absence of spatial layout and object size information. We employ a denoising diffusion model to predict precise layout sequences from noisy mobile data using a coarse-to-fine diffusion strategy, incorporating the RMS, Siamese Masked Encoding Module, and MFM. Our model predicts layout sequences by implicitly inferring object size and projection status from a single reference timestamp or significantly obstructed sequences. Achieving SOTA results in randomly obstructed experiments and extremely short input experiments, our model illustrates the effectiveness of leveraging noisy mobile data. In summary, our approach offers a promising solution to the challenges faced by layout sequence and trajectory prediction models in real-world settings, paving the way for utilizing sensor data from mobile phones to accurately predict pedestrian bounding box trajectories. To the best of our knowledge, this is the first work that addresses severely obstructed and extremely short layout sequences by combining vision with noisy mobile modality, making it the pioneering work in the field of layout sequence trajectory prediction.