{"id":"https://openalex.org/W4308068563","doi":"https://doi.org/10.1109/itsc55140.2022.9922155","title":"Relation-based Motion Prediction using Traffic Scene Graphs","display_name":"Relation-based Motion Prediction using Traffic Scene Graphs","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308068563","doi":"https://doi.org/10.1109/itsc55140.2022.9922155"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9922155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922155","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2212.02503","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016783718","display_name":"Maximilian Zipfl","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Zipfl","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079032875","display_name":"Felix Hertlein","orcid":"https://orcid.org/0009-0000-5938-7092"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Hertlein","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000758128","display_name":"Achim Rettinger","orcid":"https://orcid.org/0000-0003-4950-1167"},"institutions":[{"id":"https://openalex.org/I89864525","display_name":"Universit\u00e4t Trier","ror":"https://ror.org/02778hg05","country_code":"DE","type":"education","lineage":["https://openalex.org/I89864525"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Achim Rettinger","raw_affiliation_strings":["Trier University,Trier,Germany","Trier University, Trier, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Trier University,Trier,Germany","institution_ids":["https://openalex.org/I89864525"]},{"raw_affiliation_string":"Trier University, Trier, Germany","institution_ids":["https://openalex.org/I89864525"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035133006","display_name":"Steffen Thoma","orcid":"https://orcid.org/0000-0003-1205-0630"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Thoma","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany","FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031926202","display_name":"Lavdim Halilaj","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lavdim Halilaj","raw_affiliation_strings":["Bosch Corporate Research,Renningen,Germany","Bosch Corporate Research, Renningen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,Renningen,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037334957","display_name":"Juergen Luettin","orcid":"https://orcid.org/0009-0008-5538-2516"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Juergen Luettin","raw_affiliation_strings":["Bosch Corporate Research,Renningen,Germany","Bosch Corporate Research, Renningen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,Renningen,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042442907","display_name":"Stefan Schmid","orcid":"https://orcid.org/0000-0002-4277-1116"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Schmid","raw_affiliation_strings":["Bosch Corporate Research,Renningen,Germany","Bosch Corporate Research, Renningen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research,Renningen,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038305935","display_name":"Cory Henson","orcid":"https://orcid.org/0000-0003-3875-3705"},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cory Henson","raw_affiliation_strings":["Bosch Research and Technology Center,Pittsburgh,PA,USA","Bosch Research and Technology Center, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bosch Research and Technology Center,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I4210120115"]},{"raw_affiliation_string":"Bosch Research and Technology Center, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210120115"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7503,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.92821305,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"825","last_page":"831"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.757843017578125},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.591235876083374},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5734826922416687},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5518315434455872},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.5148496031761169},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.4987037181854248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48523879051208496},{"id":"https://openalex.org/keywords/spatial-relation","display_name":"Spatial relation","score":0.4638175368309021},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44764846563339233},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.375137597322464},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.2815759479999542},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.19931286573410034},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10559064149856567},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07865896821022034}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.757843017578125},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.591235876083374},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5734826922416687},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5518315434455872},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.5148496031761169},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.4987037181854248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48523879051208496},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.4638175368309021},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44764846563339233},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.375137597322464},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2815759479999542},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.19931286573410034},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10559064149856567},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07865896821022034},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc55140.2022.9922155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922155","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2212.02503","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2212.02503","pdf_url":"https://arxiv.org/pdf/2212.02503","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2212.02503","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2212.02503","pdf_url":"https://arxiv.org/pdf/2212.02503","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2064675550","https://openalex.org/W2107338474","https://openalex.org/W2116341502","https://openalex.org/W2137097255","https://openalex.org/W2144257846","https://openalex.org/W2606780347","https://openalex.org/W2747329762","https://openalex.org/W2898900571","https://openalex.org/W2905173465","https://openalex.org/W2912477994","https://openalex.org/W2963759562","https://openalex.org/W2964015378","https://openalex.org/W2971323980","https://openalex.org/W2974840592","https://openalex.org/W2977533930","https://openalex.org/W2980087597","https://openalex.org/W2989681361","https://openalex.org/W2989851631","https://openalex.org/W3000019468","https://openalex.org/W3026544131","https://openalex.org/W3028769608","https://openalex.org/W3034722190","https://openalex.org/W3062588417","https://openalex.org/W3097237405","https://openalex.org/W3136999308","https://openalex.org/W3165648108","https://openalex.org/W3184258555","https://openalex.org/W3207981904","https://openalex.org/W3209102426","https://openalex.org/W3209373652","https://openalex.org/W3217070037","https://openalex.org/W4297733535","https://openalex.org/W4303519917","https://openalex.org/W6631190155","https://openalex.org/W6726873649","https://openalex.org/W6736685754","https://openalex.org/W6745537798","https://openalex.org/W6755864109","https://openalex.org/W6756871163","https://openalex.org/W6758874359","https://openalex.org/W6767604493","https://openalex.org/W6768145977","https://openalex.org/W6768870957","https://openalex.org/W6769043036","https://openalex.org/W6777902602","https://openalex.org/W6782468546","https://openalex.org/W6790976107","https://openalex.org/W6804863299","https://openalex.org/W6967050094"],"related_works":["https://openalex.org/W4214591816","https://openalex.org/W4389471147","https://openalex.org/W4392007279","https://openalex.org/W3042849301","https://openalex.org/W4312650216","https://openalex.org/W4387129494","https://openalex.org/W4221155265","https://openalex.org/W3109142545","https://openalex.org/W4385571298","https://openalex.org/W4377372012"],"abstract_inverted_index":{"Representing":[0],"relevant":[1],"information":[2,108,149],"of":[3,16,22,38,76,125],"a":[4,74],"traffic":[5,32,39,64,71,87,115,126],"scene":[6,79],"and":[7,91,95,103],"understanding":[8],"its":[9],"environment":[10],"is":[11,43,128],"crucial":[12],"for":[13,81],"the":[14,20,36,53,86,110,118,122,136],"success":[15],"autonomous":[17,24],"driving.":[18],"Modeling":[19],"surrounding":[21],"an":[23],"car":[25],"using":[26],"semantic":[27,78,112],"relations,":[28],"i.e.,":[29],"how":[30],"different":[31,83],"participants":[33,116,127],"relate":[34],"in":[35,47,73],"context":[37],"rule":[40],"based":[41],"behaviors,":[42],"hardly":[44],"been":[45],"considered":[46],"previous":[48,151],"work.":[49],"This":[50],"stems":[51],"from":[52,62],"fact":[54],"that":[55,105],"these":[56],"relations":[57,113],"are":[58],"hard":[59],"to":[60,132,135],"extract":[61],"real-world":[63],"scenes.":[65],"In":[66],"this":[67,142],"work,":[68],"we":[69,153],"model":[70],"scenes":[72],"form":[75],"spatial":[77,111],"graphs":[80],"various":[82],"predictions":[84],"about":[85,109,150],"participants,":[88],"e.g.,":[89],"acceleration":[90,123],"deceleration.":[92],"Our":[93],"learning":[94],"inference":[96],"approach":[97],"uses":[98],"Graph":[99],"Neural":[100],"Networks":[101],"(GNNs)":[102],"shows":[104],"incorporating":[106],"explicit":[107,143],"between":[114],"improves":[117],"predicdtion":[119],"results.":[120],"Specifically,":[121],"prediction":[124],"improved":[129],"by":[130,146],"up":[131],"12%":[133],"compared":[134],"baselines,":[137],"which":[138],"do":[139],"not":[140],"exploit":[141],"information.":[144],"Furthermore,":[145],"including":[147],"additional":[148],"scenes,":[152],"achieve":[154],"73%":[155],"improvements.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}
