轨迹预测演变（第1/2部分）

无人驾驶汽车 (Self-Driving Cars)

“If you recognize that self-driving cars are going to prevent car accidents, AI will be responsible for reducing one of the leading causes of death in the world.” — Mark Zuckerberg

“如果您意识到自动驾驶汽车将预防车祸，那么人工智能将负责减少世界上主要的死亡原因之一。” - 马克·扎克伯格

Whenever we think about the AI world, the auto industry immediately comes to our minds. Self-driving cars is one of the fascinating future which does not seem to be a distant reality. We just sit inside the car and watch a movie while it takes you to its destination.

每当我们想到AI世界时，就会立即想到汽车行业。 自动驾驶汽车是令人着迷的未来之一，这似乎并不是遥不可及的现实。 我们只是坐在车内，一边看电影，一边将您带到目的地。

But is it that easy that cars can drive fully autonomous and pay attention to all contexts in an environment? In the past few years, many papers have been published to predict the possible future trajectories of cars and pedestrians that are socially acceptable.

但是，汽车能够完全自动驾驶并关注环境中的所有环境是否容易呢？ 在过去的几年中，已经发表了许多论文来预测社会上可以接受的汽车和行人的未来轨迹。

Question: What will be one of the biggest challenges of self-driving cars?

问题 ：自动驾驶汽车的最大挑战是什么？

Answer: Understanding pedestrian behavior and their future trajectory.

答案 ：了解行人的行为及其未来轨迹。

Human motion can be described as multimodal i.e. humans have the possibility to move in multiple directions at any given instant of time. And this behavior is one of the biggest challenges of self-driving cars. Since they have to navigate through a human-centric world.

人体运动可以描述为多模式的，即人体可以在任何给定的瞬间沿多个方向移动。 这种行为是自动驾驶汽车的最大挑战之一。 因为他们必须穿越以人为本的世界 。

In this first part, I will discuss three papers in brief whose main aim is to predict future possible trajectories of pedestrians.

在第一部分中，我将简要讨论三篇论文，其主要目的是预测行人的未来可能轨迹。

社交GAN (Social GAN)

This is one of the initial papers that has stated using GAN to predict the possible trajectories of humans.

这是使用GAN预测人类可能轨迹的最初论文之一。

This paper tries to solve the problem by predicting the socially plausible future trajectories of humans that will help self-driving cars in making the right decision.

本文试图通过预测人类在社会上可行的未来轨迹来解决该问题，这将有助于自动驾驶汽车做出正确的决定。

目标： (Aim:)

The paper aims at resolving two major challenges:

本文旨在解决两个主要挑战：

1. To have a computationally efficient interaction model among all people in a scene.
   在场景中的所有人之间建立计算有效的交互模型。
2. To learn and produce multiple trajectories that are socially acceptable.
   学习并产生社会上可接受的多种轨迹。

方法 (Method)

Fig 1. 图1. Screenshot from Social Gan Research paper Social Gan Research论文的屏幕截图

This paper presented a GAN based encoder-decoder network that consists of a LSTM network for each person and a Pooling module that models interactions among them.

本文提出了一个基于GAN的编解码器网络，该网络由每个人的LSTM网络和对它们之间的交互进行建模的Pooling模块组成。

The whole model (shown in Fig 1.) can be represented by 3 different components:

整个模型(如图1所示)。 可以由3个不同的组件表示：

发电机 (Generator)

The Generator consists of an encoder and a decoder. For each person, the encoder takes input as X_i. It embeds the location of each person and provides it as a fixed-length vector to the LSTM cell at time t.

生成器由编码器和解码器组成。 对于每个人，编码器将输入作为X_i。 它嵌入每个人的位置，并在时间t将其作为固定长度的向量提供给LSTM单元。

The LSTM weights were shared among all the people in a scene that will help with the pooling module to develop interaction among people.

LSTM权重在场景中的所有人之间共享，这将有助于合并模块发展人与人之间的互动。

Unlike prior work, this paper has used 2 following approaches:

与先前的工作不同，本文使用了以下两种方法：

a) For an easy trainin