Context-aware Pedestrian Trajectory Prediction with Multimodal
  Transformer
Haleh Damirchi Michael Greenspan Ali Etemad
We propose a novel solution for predicting future trajectories of
pedestrians. Our method uses a multimodal encoder-decoder transformer
architecture, which takes as input both pedestrian locations and ego-vehicle
speeds. Notably, our decoder predicts the entire future trajectory in a
single-pass and does not perform one-step-ahead prediction, which makes the
method effective for embedded edge deployment. We perform detailed experiments
and evaluate our method on two popular datasets, PIE and JAAD. Quantitative
results demonstrate the superiority of our proposed model over the current
state-of-the-art, which consistently achieves the lowest error for 3 time
horizons of 0.5, 1.0 and 1.5 seconds. Moreover, the proposed method is
significantly faster than the state-of-the-art for the two datasets of PIE and
JAAD. Lastly, ablation experiments demonstrate the impact of the key multimodal
configuration of our method.