{"id":"https://openalex.org/W2950891689","doi":"https://doi.org/10.1109/iv47402.2020.9304564","title":"Predicting Motion of Vulnerable Road Users using High-Definition Maps and Efficient ConvNets","display_name":"Predicting Motion of Vulnerable Road Users using High-Definition Maps and Efficient ConvNets","publication_year":2020,"publication_date":"2020-10-19","ids":{"openalex":"https://openalex.org/W2950891689","doi":"https://doi.org/10.1109/iv47402.2020.9304564","mag":"2950891689"},"language":"en","primary_location":{"id":"doi:10.1109/iv47402.2020.9304564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1906.08469","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007055093","display_name":"Fang\u2010Chieh Chou","orcid":"https://orcid.org/0000-0001-6535-0894"},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Fang-Chieh Chou","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101781727","display_name":"Tsung-Han Lin","orcid":"https://orcid.org/0000-0003-0149-7621"},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tsung-Han Lin","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101059479","display_name":"Henggang Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henggang Cui","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085497926","display_name":"Vladan Radosavljevi\u0107","orcid":"https://orcid.org/0009-0006-9128-1101"},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vladan Radosavljevic","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102832143","display_name":"Thi Nguyen","orcid":"https://orcid.org/0000-0002-1215-3480"},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thi Nguyen","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102158730","display_name":"Tzu-Kuo Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tzu-Kuo Huang","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015191599","display_name":"Matthew Niedoba","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Niedoba","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055199976","display_name":"Jeff Schneider","orcid":"https://orcid.org/0000-0002-5080-9073"},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeff Schneider","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082498217","display_name":"Nemanja Djuric","orcid":"https://orcid.org/0000-0002-6502-7891"},"institutions":[{"id":"https://openalex.org/I4210123843","display_name":"Advanced Technologies Group (United States)","ror":"https://ror.org/0359sgh16","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nemanja Djuric","raw_affiliation_strings":["Uber Advanced Technologies Group, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Uber Advanced Technologies Group, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210123843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5007055093"],"corresponding_institution_ids":["https://openalex.org/I4210123843"],"apc_list":null,"apc_paid":null,"fwci":2.3372,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.8779455,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1655","last_page":"1662"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T10370","display_name":"Traffic and Road Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9991000294685364,"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":0.7718520164489746},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6268378496170044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5993049144744873},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.5893962979316711},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.583527147769928},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5516440272331238},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4864180088043213},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48209288716316223},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.43677616119384766},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10606366395950317},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07739543914794922}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7718520164489746},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6268378496170044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5993049144744873},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.5893962979316711},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.583527147769928},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5516440272331238},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4864180088043213},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48209288716316223},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.43677616119384766},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10606366395950317},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07739543914794922},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iv47402.2020.9304564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1906.08469","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.08469","pdf_url":"https://arxiv.org/pdf/1906.08469","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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"},{"id":"doi:10.48550/arxiv.1906.08469","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1906.08469","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:2950891689","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1906.08469","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.08469","pdf_url":"https://arxiv.org/pdf/1906.08469","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[{"score":0.699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2950891689.pdf","grobid_xml":"https://content.openalex.org/works/W2950891689.grobid-xml"},"referenced_works_count":60,"referenced_works":["https://openalex.org/W641082448","https://openalex.org/W1522301498","https://openalex.org/W1686810756","https://openalex.org/W1749494163","https://openalex.org/W1982077462","https://openalex.org/W1986864914","https://openalex.org/W2064675550","https://openalex.org/W2098774185","https://openalex.org/W2101821104","https://openalex.org/W2118021859","https://openalex.org/W2140542425","https://openalex.org/W2146183743","https://openalex.org/W2167052694","https://openalex.org/W2167224731","https://openalex.org/W2194775991","https://openalex.org/W2257979135","https://openalex.org/W2396345911","https://openalex.org/W2424778531","https://openalex.org/W2463627759","https://openalex.org/W2508946775","https://openalex.org/W2553303224","https://openalex.org/W2612445135","https://openalex.org/W2617510024","https://openalex.org/W2740801047","https://openalex.org/W2766836212","https://openalex.org/W2787998955","https://openalex.org/W2794787653","https://openalex.org/W2796438033","https://openalex.org/W2798930779","https://openalex.org/W2810229282","https://openalex.org/W2883780447","https://openalex.org/W2886953980","https://openalex.org/W2888662204","https://openalex.org/W2898900571","https://openalex.org/W2905385096","https://openalex.org/W2949767467","https://openalex.org/W2963125010","https://openalex.org/W2963163009","https://openalex.org/W2964079724","https://openalex.org/W2964160397","https://openalex.org/W3010072020","https://openalex.org/W3010427722","https://openalex.org/W3114753236","https://openalex.org/W6631190155","https://openalex.org/W6637373629","https://openalex.org/W6674884181","https://openalex.org/W6677786781","https://openalex.org/W6684191040","https://openalex.org/W6729956949","https://openalex.org/W6737664043","https://openalex.org/W6738445818","https://openalex.org/W6748645090","https://openalex.org/W6749808448","https://openalex.org/W6752001723","https://openalex.org/W6752639691","https://openalex.org/W6753653501","https://openalex.org/W6754259177","https://openalex.org/W6754460510","https://openalex.org/W6754520643","https://openalex.org/W6755864109"],"related_works":["https://openalex.org/W2963001155","https://openalex.org/W2424778531","https://openalex.org/W2962687116","https://openalex.org/W2607296803","https://openalex.org/W3121034396","https://openalex.org/W2963906196","https://openalex.org/W2905173465","https://openalex.org/W2898900571","https://openalex.org/W2798930779","https://openalex.org/W2766836212","https://openalex.org/W2105934661","https://openalex.org/W2967177252","https://openalex.org/W1749494163","https://openalex.org/W2892119467","https://openalex.org/W2167052694","https://openalex.org/W2940129212","https://openalex.org/W2153323685","https://openalex.org/W2130942839","https://openalex.org/W2894978157","https://openalex.org/W2886617718"],"abstract_inverted_index":{"Following":[0],"detection":[1],"and":[2,29,49,106,133,170],"tracking":[3],"of":[4,8,17,65,80,138,155,163,168],"traffic":[5],"actors,":[6],"prediction":[7,162],"their":[9,73],"future":[10],"motion":[11,161],"is":[12,35,75],"the":[13,24,70,88,144,157],"next":[14],"critical":[15],"component":[16],"a":[18,93,110,126],"self-driving":[19],"vehicle":[20],"(SDV)":[21],"technology,":[22],"allowing":[23],"SDV":[25],"to":[26,41,54,61,118,142],"operate":[27],"safely":[28],"efficiently":[30],"in":[31,87,166],"its":[32],"environment.":[33],"This":[34],"particularly":[36],"important":[37],"when":[38],"it":[39],"comes":[40],"vulnerable":[42],"road":[43],"users":[44],"(VRUs),":[45],"such":[46],"as":[47,67,69,115],"pedestrians":[48],"bicyclists.":[50],"These":[51],"actors":[52],"need":[53],"be":[55],"handled":[56],"with":[57],"special":[58],"care":[59],"due":[60],"an":[62,116,135],"increased":[63],"risk":[64],"injury,":[66],"well":[68],"fact":[71],"that":[72,79],"behavior":[74],"less":[76],"predictable":[77],"than":[78],"motorized":[81],"actors.":[82],"To":[83],"address":[84],"this":[85],"issue,":[86],"current":[89],"study":[90,137],"we":[91,102,124],"present":[92],"deep":[94,119],"learning-based":[95],"method":[96],"for":[97,130,147,160],"predicting":[98],"VRU":[99],"movement,":[100],"where":[101],"rasterize":[103],"high-definition":[104],"maps":[105],"actor's":[107],"surroundings":[108],"into":[109],"bird's-eye":[111],"view":[112],"image":[113],"used":[114],"input":[117],"convolutional":[120],"networks.":[121],"In":[122],"addition,":[123],"propose":[125],"fast":[127],"architecture":[128],"suitable":[129],"real-time":[131],"inference,":[132],"perform":[134],"ablation":[136],"various":[139],"rasterization":[140],"approaches":[141],"find":[143],"optimal":[145],"choice":[146],"accurate":[148],"prediction.":[149],"The":[150],"results":[151],"strongly":[152],"indicate":[153],"benefits":[154],"using":[156],"proposed":[158],"approach":[159],"VRUs,":[164],"both":[165],"terms":[167],"accuracy":[169],"latency.":[171]},"counts_by_year":[{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}