{"id":"https://openalex.org/W4400644687","doi":"https://doi.org/10.1109/iv55156.2024.10588771","title":"MSTF: Multiscale Transformer for Incomplete Trajectory Prediction","display_name":"MSTF: Multiscale Transformer for Incomplete Trajectory Prediction","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400644687","doi":"https://doi.org/10.1109/iv55156.2024.10588771"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","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/A5108135104","display_name":"Zhanwen Liu","orcid":"https://orcid.org/0000-0002-9361-7151"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhanwen Liu","raw_affiliation_strings":["Chang’an University,Department of Information Engineering,Xi’an,PR China,710018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chang’an University,Department of Information Engineering,Xi’an,PR China,710018","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100322039","display_name":"Chao Li","orcid":"https://orcid.org/0000-0001-5904-4612"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Li","raw_affiliation_strings":["Chang’an University,Department of Information Engineering,Xi’an,PR China,710018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chang’an University,Department of Information Engineering,Xi’an,PR China,710018","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102999126","display_name":"Yang Nan","orcid":"https://orcid.org/0009-0007-0605-3217"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Yang","raw_affiliation_strings":["Chang’an University,Department of Information Engineering,Xi’an,PR China,710018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chang’an University,Department of Information Engineering,Xi’an,PR China,710018","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030110566","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0001-7322-4062"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wang","raw_affiliation_strings":["Chang’an University,Department of Information Engineering,Xi’an,PR China,710018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chang’an University,Department of Information Engineering,Xi’an,PR China,710018","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068374815","display_name":"Jiaqi Ma","orcid":"https://orcid.org/0000-0002-8184-5157"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaqi Ma","raw_affiliation_strings":["University of California, Los Angeles (UCLA),UCLA Mobility Lab and FHWA Center of Excellence on New Mobility and Automated Vehicles,CA,USA,90095"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles (UCLA),UCLA Mobility Lab and FHWA Center of Excellence on New Mobility and Automated Vehicles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115599767","display_name":"Guangliang Cheng","orcid":"https://orcid.org/0000-0001-8686-9513"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guangliang Cheng","raw_affiliation_strings":["University of Liverpool,Department of Computer Science,Liverpool,U.K.,L69 3BX"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Liverpool,Department of Computer Science,Liverpool,U.K.,L69 3BX","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081266790","display_name":"Xiangmo Zhao","orcid":"https://orcid.org/0000-0002-0116-5988"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangmo Zhao","raw_affiliation_strings":["Chang’an University,Department of Information Engineering,Xi’an,PR China,710018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chang’an University,Department of Information Engineering,Xi’an,PR China,710018","institution_ids":["https://openalex.org/I25355098"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5108135104"],"corresponding_institution_ids":["https://openalex.org/I25355098"],"apc_list":null,"apc_paid":null,"fwci":0.973,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.73375757,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"573","last_page":"580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9803000092506409,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9803000092506409,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9054999947547913,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6165580153465271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6014909148216248},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5228376984596252},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11863145232200623},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11245647072792053},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0895717442035675},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.06437519192695618}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6165580153465271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6014909148216248},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5228376984596252},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11863145232200623},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11245647072792053},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0895717442035675},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.06437519192695618},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1576712038","https://openalex.org/W1841820628","https://openalex.org/W2150066425","https://openalex.org/W2396881363","https://openalex.org/W2496114304","https://openalex.org/W2784823820","https://openalex.org/W2896642734","https://openalex.org/W2955189650","https://openalex.org/W2963906196","https://openalex.org/W2964010366","https://openalex.org/W2990003585","https://openalex.org/W3007066689","https://openalex.org/W3013376041","https://openalex.org/W3034722190","https://openalex.org/W3107209377","https://openalex.org/W3108486966","https://openalex.org/W3129938072","https://openalex.org/W3165263791","https://openalex.org/W3169575318","https://openalex.org/W3174697924","https://openalex.org/W3193820759","https://openalex.org/W4220829461","https://openalex.org/W4226118181","https://openalex.org/W4287062502","https://openalex.org/W4295872679","https://openalex.org/W4308068475","https://openalex.org/W4312432439","https://openalex.org/W4313590738","https://openalex.org/W4360596135","https://openalex.org/W4367164138","https://openalex.org/W4379931754","https://openalex.org/W4381332009","https://openalex.org/W4385245566","https://openalex.org/W4385257689","https://openalex.org/W4385301494","https://openalex.org/W4386400738","https://openalex.org/W4389076370","https://openalex.org/W4393929300","https://openalex.org/W4396506102","https://openalex.org/W4402569281","https://openalex.org/W6634507498","https://openalex.org/W6747826347","https://openalex.org/W6770037411","https://openalex.org/W6780817209","https://openalex.org/W6840585966","https://openalex.org/W6857443063"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Motion":[0],"forecasting":[1,215],"plays":[2],"a":[3,81,111,163],"pivotal":[4],"role":[5],"in":[6,123,153,195,205,213],"autonomous":[7,217],"driving":[8,218],"systems,":[9],"enabling":[10],"vehicles":[11],"to":[12,168],"execute":[13],"collision":[14],"warnings":[15],"and":[16,48,86],"rational":[17],"local-path":[18],"planning":[19],"based":[20],"on":[21],"predictions":[22,170],"of":[23,39,57,103,120,133,144,198],"the":[24,36,55,95,118,130,137,154,196,207],"surrounding":[25],"vehicles.":[26],"However,":[27],"prevalent":[28],"methods":[29],"often":[30],"assume":[31],"complete":[32],"observed":[33],"trajectories,":[34],"neglecting":[35],"potential":[37],"impact":[38],"missing":[40,134,151,211],"values":[41,212],"induced":[42],"by":[43,149,210],"object":[44],"occlusion,":[45],"scope":[46],"limitation,":[47],"sensor":[49],"failures.":[50],"Such":[51],"oversights":[52],"inevitably":[53],"compromise":[54],"accuracy":[56],"trajectory":[58,77,104,200],"predictions.":[59],"To":[60],"tackle":[61],"this":[62],"challenge,":[63],"we":[64],"propose":[65],"an":[66,87],"end-to-end":[67],"framework,":[68],"termed":[69],"Multi-scale":[70],"Transformer":[71],"(MSTF),":[72],"meticulously":[73],"crafted":[74],"for":[75,216],"incomplete":[76,199],"prediction.":[78],"MSTF":[79,167,179,190],"integrates":[80],"Multiscale":[82],"Attention":[83],"Head":[84],"(MAH)":[85],"Information":[88],"Increment-based":[89],"Pattern":[90],"Adaptive":[91],"(IIPA)":[92],"module.":[93],"Specifically,":[94],"MAH":[96],"component":[97],"concurrently":[98],"captures":[99],"multiscale":[100],"motion":[101,124,145,160,173,214],"representation":[102,143,158],"sequence":[105],"from":[106],"various":[107],"temporal":[108],"granularities,":[109],"utilizing":[110],"multi-head":[112],"attention":[113],"mechanism.":[114],"This":[115],"approach":[116],"facilitates":[117],"modeling":[119],"global":[121],"dependencies":[122],"across":[125,146],"different":[126],"scales,":[127],"thereby":[128],"mitigating":[129],"adverse":[131],"effects":[132],"values.":[135],"Additionally,":[136],"IIPA":[138],"module":[139],"adaptively":[140],"extracts":[141],"continuity":[142,157],"time":[147],"steps":[148],"analyzing":[150],"patterns":[152],"data.":[155],"The":[156],"delineates":[159],"trend":[161],"at":[162],"higher":[164],"level,":[165],"guiding":[166],"generate":[169],"consistent":[171],"with":[172],"continuity.":[174],"We":[175],"evaluate":[176],"our":[177],"proposed":[178],"model":[180],"using":[181],"two":[182],"large-scale":[183],"real-world":[184],"datasets.":[185],"Experimental":[186],"results":[187],"demonstrate":[188],"that":[189],"surpasses":[191],"state-of-the-art":[192],"(SOTA)":[193],"models":[194],"task":[197],"prediction,":[201],"showcasing":[202],"its":[203],"efficacy":[204],"addressing":[206],"challenges":[208],"posed":[209],"systems.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-20T08:49:12.498775","created_date":"2025-10-10T00:00:00"}