{"id":"https://openalex.org/W4391770006","doi":"https://doi.org/10.1109/itsc57777.2023.10422048","title":"Video Killed the HD-Map: Predicting Multi-Agent Behavior Directly From Aerial Images","display_name":"Video Killed the HD-Map: Predicting Multi-Agent Behavior Directly From Aerial Images","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391770006","doi":"https://doi.org/10.1109/itsc57777.2023.10422048"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422048","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100331831","display_name":"Yunpeng Liu","orcid":"https://orcid.org/0000-0001-5439-0399"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Yunpeng Liu","raw_affiliation_strings":["Inverted AI","University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111122747","display_name":"Vasileios Lioutas","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Vasileios Lioutas","raw_affiliation_strings":["Inverted AI","University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068172102","display_name":"Jonathan Wilder Lavington","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jonathan Wilder Lavington","raw_affiliation_strings":["Inverted AI","University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015191599","display_name":"Matthew Niedoba","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Matthew Niedoba","raw_affiliation_strings":["Inverted AI","University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044264732","display_name":"Justice Sefas","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Justice Sefas","raw_affiliation_strings":["Inverted AI","University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083280889","display_name":"Setareh Dabiri","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Setareh Dabiri","raw_affiliation_strings":["Inverted AI"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101611967","display_name":"Dylan Green","orcid":"https://orcid.org/0000-0003-3938-8527"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Dylan Green","raw_affiliation_strings":["Inverted AI","University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060562593","display_name":"Xiaoxuan Liang","orcid":"https://orcid.org/0000-0002-8325-1627"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xiaoxuan Liang","raw_affiliation_strings":["Inverted AI","University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017133976","display_name":"Berend Zwartsenberg","orcid":"https://orcid.org/0000-0002-9635-9039"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Berend Zwartsenberg","raw_affiliation_strings":["Inverted AI"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020448685","display_name":"Adam \u015acibior","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adam \u015acibior","raw_affiliation_strings":["Inverted AI"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109993328","display_name":"Frank Wood","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Frank Wood","raw_affiliation_strings":["Inverted AI","Mila","University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Inverted AI","institution_ids":[]},{"raw_affiliation_string":"Mila","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5100331831"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":0.1746,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60092308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3261","last_page":"3267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.8176000118255615,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.8176000118255615,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.6288332939147949},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5818013548851013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5618374943733215},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.36402878165245056},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15361782908439636}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6288332939147949},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5818013548851013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5618374943733215},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.36402878165245056},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15361782908439636}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422048","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W592244745","https://openalex.org/W1970206276","https://openalex.org/W2127070222","https://openalex.org/W2532516272","https://openalex.org/W2607296803","https://openalex.org/W2616635592","https://openalex.org/W2769811707","https://openalex.org/W2940129212","https://openalex.org/W2955189650","https://openalex.org/W2962687116","https://openalex.org/W2980087597","https://openalex.org/W2982745079","https://openalex.org/W2986406093","https://openalex.org/W3034722190","https://openalex.org/W3035096461","https://openalex.org/W3038023161","https://openalex.org/W3108486966","https://openalex.org/W3111487461","https://openalex.org/W3113891126","https://openalex.org/W3156216502","https://openalex.org/W3179351458","https://openalex.org/W3181350748","https://openalex.org/W3184784650","https://openalex.org/W3209892694","https://openalex.org/W3213801837","https://openalex.org/W4285244183","https://openalex.org/W4287115177","https://openalex.org/W4312424509","https://openalex.org/W4383108499","https://openalex.org/W6617744952","https://openalex.org/W6633111200","https://openalex.org/W6640174482","https://openalex.org/W6767342764","https://openalex.org/W6780503301","https://openalex.org/W6801415009"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"The":[0],"development":[1],"of":[2,21,66,76],"algorithms":[3],"that":[4,56,104],"learn":[5,28],"multi-agent":[6,123,147],"behavioral":[7],"models":[8,27,58,165],"using":[9,126,158],"human":[10,67,93],"demonstrations":[11],"has":[12],"led":[13],"to":[14,29,164],"increasingly":[15],"realistic":[16],"simulations":[17],"in":[18,154],"the":[19,64,73,127,155],"field":[20],"autonomous":[22],"driving.":[23],"In":[24],"general,":[25],"such":[26,42],"jointly":[30],"predict":[31],"trajectories":[32],"for":[33,70,82,114,152],"all":[34],"controlled":[35],"agents":[36,116],"by":[37,129],"exploiting":[38],"road":[39,111],"context":[40,112],"information":[41,113],"as":[43,137,162],"drivable":[44],"lanes":[45],"obtained":[46],"from":[47,62],"manually":[48],"annotated":[49],"high-definition":[50],"(HD)":[51],"maps.":[52,170],"Recent":[53],"studies":[54],"show":[55],"these":[57],"can":[59],"greatly":[60],"benefit":[61],"increasing":[63],"amount":[65],"data":[68],"available":[69],"training.":[71],"However,":[72],"manual":[74],"annotation":[75,107],"HD":[77,169],"maps":[78],"which":[79],"is":[80],"necessary":[81],"every":[83],"new":[84],"location":[85],"puts":[86],"a":[87,133],"bottleneck":[88],"on":[89],"efficiently":[90],"scaling":[91],"up":[92],"traffic":[94,115],"datasets.":[95],"We":[96,121],"propose":[97],"an":[98,138],"aerial":[99],"image-based":[100],"map":[101],"(AIM)":[102],"representation":[103,161],"requires":[105],"minimal":[106],"and":[108,119],"provides":[109],"rich":[110],"like":[117],"pedestrians":[118,153],"vehicles.":[120],"evaluate":[122],"trajectory":[124,148],"prediction":[125,149],"AIM":[128,160],"incorporating":[130],"it":[131],"into":[132],"differentiable":[134,140],"driving":[135],"simulator":[136],"image-texture-based":[139],"rendering":[141],"module.":[142],"Our":[143],"results":[144],"demonstrate":[145],"competitive":[146],"performance":[150],"especially":[151],"scene":[156],"when":[157],"our":[159],"compared":[163],"trained":[166],"with":[167],"rasterized":[168]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
