MapUncertaintyPrediction

This repository contains the official implementation of Producing and Leveraging Online Map Uncertainty in Trajectory Prediction published in CVPR 2024 [Award Candidate].

Getting Started

• Environment Setup
• Prepare Dataset
• Mapping Train and Eval
• Merge Map and Trajectory Dataset
• Trajectory Train and Eval
• Visualization

Results

Mapping checkpoints are here. Trajectory prediction checkpoints are here.

Catalog

• [x] Visualization Code
• [x] Code release
  • [x] MapTR
  • [x] MapTRv2
  • [x] StreamMapNet
  • [x] HiVT
  • [x] DenseTNT
• [x] Initialization

Citation

If you found this repository useful, please consider citing our work:

@Inproceedings{GuSongEtAl2024,
  author    = {Gu, Xunjiang and Song, Guanyu and Gilitschenski, Igor and Pavone, Marco and Ivanovic, Boris},
  title     = {Producing and Leveraging Online Map Uncertainty in Trajectory Prediction},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year      = {2024}
}

License

This repository is licensed under Apache 2.0.