The Importance of Prior Knowledge in Precise Multimodal Prediction
Sergio Casas,Cole Gulino,Simon Suo,Raquel Urtasun,Sergio Casas,Cole Gulino,Simon Suo,Raquel Urtasun
Roads have well defined geometries, topologies, and traffic rules. While this has been widely exploited in motion planning methods to produce maneuvers that obey the law, little work has been devoted to utilize these priors in perception and motion forecasting methods. In this paper we propose to incorporate these structured priors as a loss function. In contrast to imposing hard constraints, this...
