summary

• temporal convolutional networks (TCNs) を用いたPredictionの提案

Method

• 軽くて良さげな全体framework
  • mobilenetなのがrealtimeを考慮していて良い感じ
  • [[000361_uber_prediction_mtp]] MTP (Multiple Trajectory Prediction) をbaseに

• synthetic (合成) actor-centric rasterized image
  • これはBaseになる奴、こういう表現をするのね

• state input
  • trackingの情報のuncertaintiesを使う

• temporal convolutional networks (TCNs)

• estimate position uncertainties

Experiment

• The model runs inference in
  • 2.0 ms with batch size B = 1
  • 7.4 ms with B = 32
• TensorRT acceleration (generation of images and uploading/downloading data to/from GPU excluded) with ONNX Runtime on an NVIDIA Geforce 1080 Ti.
• めっちゃ良さそう