We address one of the crucial aspects necessary for safe and efficient operations of autonomous vehicles, namely predicting future state of traffic actors in the autonomous vehicles surroundings. We introduce a deep learning-based approach that takes into account a current world state and produces raster images of each actors vicinity. The rasters are then used as inputs to deep convolutional models to infer future movement of actors while also accounting for and capturing inherent uncertainty of the prediction task. Extensive experiments on real-world data strongly suggest benefits of the proposed approach. Moreover, following completion of the offline tests the system was successfully tested onboard self-driving vehicles.
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