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

Understand

Recently, there has been tremendous progress in developing each individual module of the standard perception-planning robot autonomy pipeline, including detection, tracking, prediction of other agents' trajectories, and ego-agent trajectory planning.

• Nevertheless, there has been less attention given to the principled integration of these components, particularly in terms of the characterization and mitigation of cascading errors.
• This paper addresses the problem of cascading errors by focusing on the coupling between the tracking and prediction modules.
• First, by using state-of-the-art tracking and prediction tools, we conduct a comprehensive experimental evaluation of how severely errors stemming from tracking can impact prediction performance.