{"id":"https://openalex.org/W4386044460","doi":"https://doi.org/10.48550/arxiv.2308.08764","title":"XVTP3D: Cross-view Trajectory Prediction Using Shared 3D Queries for Autonomous Driving","display_name":"XVTP3D: Cross-view Trajectory Prediction Using Shared 3D Queries for Autonomous Driving","publication_year":2023,"publication_date":"2023-08-17","ids":{"openalex":"https://openalex.org/W4386044460","doi":"https://doi.org/10.48550/arxiv.2308.08764"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2308.08764","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2308.08764","pdf_url":"https://arxiv.org/pdf/2308.08764","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2308.08764","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100931656","display_name":"Zijian Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Zijian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028142499","display_name":"Huikun Bi","orcid":"https://orcid.org/0000-0002-0690-4663"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bi, Huikun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061841563","display_name":"Ruisi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Ruisi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001141015","display_name":"Tianlu Mao","orcid":"https://orcid.org/0000-0003-2537-9873"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mao, Tianlu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100613098","display_name":"Zhaoqi Wang","orcid":"https://orcid.org/0000-0003-0894-8165"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhaoqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9962000250816345,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9962000250816345,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9957000017166138,"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/T11106","display_name":"Data Management and Algorithms","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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":0.800220251083374},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7991458177566528},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.768258810043335},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.62843257188797},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5592494010925293},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5221983790397644},{"id":"https://openalex.org/keywords/dilemma","display_name":"Dilemma","score":0.49033689498901367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4595450758934021},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4394189119338989},{"id":"https://openalex.org/keywords/cross-validation","display_name":"Cross-validation","score":0.4208582937717438},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3928239643573761},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07705968618392944}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.800220251083374},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7991458177566528},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.768258810043335},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.62843257188797},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5592494010925293},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5221983790397644},{"id":"https://openalex.org/C2778496695","wikidata":"https://www.wikidata.org/wiki/Q254128","display_name":"Dilemma","level":2,"score":0.49033689498901367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4595450758934021},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4394189119338989},{"id":"https://openalex.org/C27181475","wikidata":"https://www.wikidata.org/wiki/Q541014","display_name":"Cross-validation","level":2,"score":0.4208582937717438},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3928239643573761},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07705968618392944},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2308.08764","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2308.08764","pdf_url":"https://arxiv.org/pdf/2308.08764","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2308.08764","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2308.08764","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2308.08764","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2308.08764","pdf_url":"https://arxiv.org/pdf/2308.08764","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4866813418","display_name":null,"funder_award_id":"62002345","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386044460.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2350209916","https://openalex.org/W2475524763","https://openalex.org/W2363851383","https://openalex.org/W2354517252","https://openalex.org/W2387460998","https://openalex.org/W2356631479","https://openalex.org/W2386467653","https://openalex.org/W2482596426","https://openalex.org/W4386266213","https://openalex.org/W2357101623"],"abstract_inverted_index":{"Trajectory":[0],"prediction":[1,85,147],"with":[2,164],"uncertainty":[3],"is":[4,48,130],"a":[5,69,82,94,112,145],"critical":[6],"and":[7,51,116],"challenging":[8],"task":[9],"for":[10],"autonomous":[11],"driving.":[12],"Nowadays,":[13],"we":[14,72,127],"can":[15],"easily":[16],"access":[17],"sensor":[18],"data":[19],"represented":[20],"in":[21,68,140],"multiple":[22],"views.":[23,46],"However,":[24],"cross-view":[25,78,83,107,122,166],"consistency":[26],"has":[27],"not":[28,49,57],"been":[29],"evaluated":[30],"by":[31],"the":[32,41,54,59,65,131,136],"existing":[33],"models,":[34],"which":[35,62],"might":[36],"lead":[37],"to":[38,102,119,144],"divergences":[39],"between":[40],"multimodal":[42,74],"predictions":[43],"from":[44],"different":[45],"It":[47],"practical":[50],"effective":[52],"when":[53],"network":[55],"does":[56],"comprehend":[58],"3D":[60,89,97],"scene,":[61],"could":[63],"cause":[64],"downstream":[66],"module":[67],"dilemma.":[70],"Instead,":[71],"predicts":[73],"trajectories":[75],"while":[76],"maintaining":[77],"consistency.":[79],"We":[80,92,109],"presented":[81],"trajectory":[84,146],"method":[86,115],"using":[87],"shared":[88,99],"Queries":[90],"(XVTP3D).":[91],"employ":[93],"set":[95],"of":[96,151],"queries":[98],"across":[100],"views":[101],"generate":[103],"multi-goals":[104],"that":[105,134,159],"are":[106],"consistent.":[108],"also":[110],"proposed":[111],"random":[113],"mask":[114],"coarse-to-fine":[117],"cross-attention":[118],"capture":[120],"robust":[121],"features.":[123],"As":[124],"far":[125],"as":[126],"know,":[128],"this":[129],"first":[132],"work":[133],"introduces":[135],"outstanding":[137],"top-down":[138],"paradigm":[139],"BEV":[141],"detection":[142],"field":[143],"problem.":[148],"The":[149],"results":[150],"experiments":[152],"on":[153],"two":[154],"publicly":[155],"available":[156],"datasets":[157],"show":[158],"XVTP3D":[160],"achieved":[161],"state-of-the-art":[162],"performance":[163],"consistent":[165],"predictions.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
