mlsanityData to 7 Oct 2026

Snapshot: Towards Application-centered Models for Pedestrian Trajectory Prediction in Urban Traffic Environments

arXiv 2409.01971 ↗First posted 3 Sep 2024cs.CVcited by 3

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Abstract (arXiv)

This paper explores pedestrian trajectory prediction in urban traffic while focusing on both model accuracy and real-world applicability. While promising approaches exist, they often revolve around pedestrian datasets excluding traffic-related information, or resemble architectures that are either not real-time capable or robust. To address these limitations, we first introduce a dedicated benchmark based on Argoverse 2, specifically targeting pedestrians in traffic environments. Following this, we present Snapshot, a modular, feed-forward neural network that outperforms the current state of the art, reducing the Average Displacement Error (ADE) by 8.8% while utilizing significantly less information. Despite its agent-centric encoding scheme, Snapshot demonstrates scalability, real-time performance, and robustness to varying motion histories. Moreover, by integrating Snapshot into a modular autonomous driving software stack, we showcase its real-world applicability.

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 33 of its 58 references that are in the map. First posted on arXiv 3 Sep 2024.

Builds on

33 of 58 references.

References · 33

  1. 2017Attention Is All You Needcited by 59,932
  2. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  5. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  6. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  7. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 532
  8. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  9. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  10. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 296
  11. 2022Wayformer: Motion Forecasting via Simple & Efficient Attention Networkscited by 279
  12. 2019Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networkscited by 228
21 more
  1. 2020From Goals, Waypoints & Paths To Long Term Human Trajectory Forecastingcited by 166
  2. 2020Human Trajectory Forecasting in Crowds: A Deep Learning Perspectivecited by 128
  3. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  4. 2019Social Ways: Learning Multi-Modal Distributions of Pedestrian Trajectories with GANscited by 78
  5. 2023Forecast-MAE: Self-supervised Pre-training for Motion Forecasting with Masked Autoencoderscited by 72
  6. 2022Human Trajectory Prediction via Neural Social Physicscited by 66
  7. 2023ProphNet: Efficient Agent-Centric Motion Forecasting with Anchor-Informed Proposalscited by 47
  8. 2022Social-Implicit: Rethinking Trajectory Prediction Evaluation and The Effectiveness of Implicit Maximum Likelihood Estimationcited by 40
  9. 2019TH"OR: Human-Robot Navigation Data Collection and Accurate Motion Trajectories Datasetcited by 36
  10. 2023Real-Time Motion Prediction via Heterogeneous Polyline Transformer with Relative Pose Encodingcited by 32
  11. 2021Review of Pedestrian Trajectory Prediction Methods: Comparing Deep Learning and Knowledge-based Approachescited by 30
  12. 2023SEPT: Towards Efficient Scene Representation Learning for Motion Predictioncited by 27
  13. 2024SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Drivingcited by 27
  14. 2023Robots That Can See: Leveraging Human Pose for Trajectory Predictioncited by 22
  15. 2020Pedestrian Trajectory Prediction with Convolutional Neural Networkscited by 21
  16. 2021FloMo: Tractable Motion Prediction with Normalizing Flowscited by 21
  17. 2021Is attention to bounding boxes all you need for pedestrian action prediction?cited by 21
  18. 2023Pedestrian Trajectory Prediction in Pedestrian-Vehicle Mixed Environments: A Systematic Reviewcited by 18
  19. 2023Evaluating Pedestrian Trajectory Prediction Methods with Respect to Autonomous Drivingcited by 11
  20. 2023ForceFormer: Exploring Social Force and Transformer for Pedestrian Trajectory Predictioncited by 7
  21. 2024A survey on robustness in trajectory prediction for autonomous vehiclescited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 2; 2026: 1.

3 papers.

  1. 2025Recent Advances in Multi-Agent Human Trajectory Prediction: A Comprehensive Reviewcited by 2
  2. 2025To New Beginnings: A Survey of Unified Perception in Autonomous Vehicle Softwarecited by 1
  3. 2026A Unified Framework for Trajectory Prediction with Explicit Planning and Reaction Decompositioncited by 0