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MC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

Unified models for object detection and trajectory forecasting aim to merge perception and prediction for autonomous driving, refining actor trajectories directly over shared bird's-eye-view (BEV) images rasterized from LiDAR and high-definition maps. Their accuracy on dynamic, moving actors, however, remains the hardest part of the task, and the strongest such model, DeTra, has no public implementation. We contribute an openly released DeTra reimplementation with documented approximations, and on top of it MC-DeTra: a family of motion-consistency mechanisms that add supervision through two an

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