XVTP3D: Cross-view Trajectory Prediction Using Shared 3D Queries for
  Autonomous Driving
Zijian Song Huikun Bi Ruisi Zhang Tianlu Mao Zhaoqi Wang
Trajectory prediction with uncertainty is a critical and challenging task for
autonomous driving. Nowadays, we can easily access sensor data represented in
multiple views. However, cross-view consistency has not been evaluated by the
existing models, which might lead to divergences between the multimodal
predictions from different views. It is not practical and effective when the
network does not comprehend the 3D scene, which could cause the downstream
module in a dilemma. Instead, we predicts multimodal trajectories while
maintaining cross-view consistency. We presented a cross-view trajectory
prediction method using shared 3D Queries (XVTP3D). We employ a set of 3D
queries shared across views to generate multi-goals that are cross-view
consistent. We also proposed a random mask method and coarse-to-fine
cross-attention to capture robust cross-view features. As far as we know, this
is the first work that introduces the outstanding top-down paradigm in BEV
detection field to a trajectory prediction problem. The results of experiments
on two publicly available datasets show that XVTP3D achieved state-of-the-art
performance with consistent cross-view predictions.