MTP: Multi-hypothesis Tracking and Prediction for Reduced Error Propagation

@article{Weng2021MTPMT,
  title={MTP: Multi-hypothesis Tracking and Prediction for Reduced Error Propagation},
  author={Xinshuo Weng and B. Ivanovic and Marco Pavone},
  journal={2022 IEEE Intelligent Vehicles Symposium (IV)},
  year={2021},
  pages={1218-1225}
}
There has been tremendous progress in the development of individual modules of the standard perception-prediction-planning robot autonomy stack. However, the principled integration of these modules has received less attention, particularly in terms of cascading errors. In this work, we both characterize and address the problem of cascading errors, focusing on the coupling between tracking and prediction. First, we comprehensively evaluate the impact of tracking errors on prediction performance… 

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