Trajectory Prediction on OPV2V Vehicle 1 (val)
0.688ADENo fusion (lstm12)
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| No fusion (lstm12)Occlusion=w/o Occ., Predictor=LSTM, Horizon=2s2026.04 | 0.688 | 1.606 | — | 56.23 | |
| No fusion (tr12)Occlusion=w/o Occ., History=1s, Horizon=2s, Predictor=Transformer2026.04 | 0.694 | 1.681 | — | 55.17 | |
| Late Fusion (lstm12:lstm12)Ego Predictor=lstm12, Collaborator Predictor=lstm122026.04 | 0.708 | 1.667 | 27.62 | 38.18 | |
| No fusion (lstm12)Occlusion=under Occ., Predictor=LSTM, Horizon=2s2026.04 | 0.711 | 1.672 | 30.42 | 36.42 | |
| Late Fusion (lstm12:lstm23)Ego Predictor=lstm12, Collaborator Predictor=lstm232026.04 | 0.712 | 1.667 | 27.65 | 38.29 | |
| Late Fusion (lstm12:tr12)Ego Predictor=lstm12, Collaborator Predictor=tr122026.04 | 0.714 | 1.684 | 27.65 | 38.15 | |
| Late Fusion (tr12:lstm12)Ego Predictor=tr12, Collaborator Predictor=lstm12, Occlusion=under Occ.2026.04 | 0.763 | 1.825 | 27.62 | 38.25 | |
| Late Fusion (tr12:tr12)Ego Predictor=tr12, Collaborator Predictor=tr12, Occlusion=under Occ.2026.04 | 0.77 | 1.841 | 27.62 | 38.22 | |
| No fusion (tr12)Occlusion=under Occ., History=1s, Horizon=2s, Predictor=Transformer2026.04 | 0.773 | 1.849 | 30.42 | 36.49 | |
| Late Fusion (tr12:tr23)Ego Predictor=tr12, Collaborator Predictor=tr23, Occlusion=under Occ.2026.04 | 0.776 | 1.852 | 27.62 | 38.25 | |
| No fusion (lstm23)Occlusion=w/o Occ., Predictor=LSTM, Horizon=3s2026.04 | 1.12 | 2.652 | — | 10.1 | |
| Late Fusion (lstm23:lstm23)Ego Predictor=lstm23, Collaborator Predictor=lstm232026.04 | 1.176 | 2.764 | 26.57 | 7.6 | |
| No fusion (lstm23)Occlusion=under Occ., Predictor=LSTM, Horizon=3s2026.04 | 1.181 | 2.773 | 29.04 | 6.01 | |
| Late Fusion (lstm23:lstm12)Ego Predictor=lstm23, Collaborator Predictor=lstm122026.04 | 1.195 | 2.872 | 26.57 | 7.77 | |
| No fusion (tr23)Occlusion=w/o Occ., History=2s, Horizon=3s, Predictor=Transformer2026.04 | 1.348 | 3.248 | — | 48.5 | |
| Late Fusion (tr23:tr23)Ego Predictor=tr23, Collaborator Predictor=tr23, Occlusion=under Occ.2026.04 | 1.514 | 3.607 | 26.49 | 34.13 | |
| Late Fusion (tr23:tr12)Ego Predictor=tr23, Collaborator Predictor=tr12, Occlusion=under Occ.2026.04 | 1.517 | 3.658 | 26.57 | 34.16 | |
| No fusion (tr23)Occlusion=under Occ., History=2s, Horizon=3s, Predictor=Transformer2026.04 | 1.53 | 3.64 | 29.04 | 32.56 |