{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T15:53:04Z","timestamp":1784130784496,"version":"3.55.0"},"reference-count":45,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100002427","name":"Ford Motor Company","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100002427","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ford-UM Alliance","award":["N028603"],"award-info":[{"award-number":["N028603"]}]},{"DOI":"10.13039\/100006285","name":"Federal Highway Administration","doi-asserted-by":"publisher","award":["693JJ319000009"],"award-info":[{"award-number":["693JJ319000009"]}],"id":[{"id":"10.13039\/100006285","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1109\/lra.2021.3056339","type":"journal-article","created":{"date-parts":[[2021,2,3]],"date-time":"2021-02-03T05:08:26Z","timestamp":1612328906000},"page":"1463-1470","source":"Crossref","is-referenced-by-count":191,"title":["BiTraP: Bi-Directional Pedestrian Trajectory Prediction With Multi-Modal Goal Estimation"],"prefix":"10.1109","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2329-2355","authenticated-orcid":false,"given":"Yu","family":"Yao","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2132-6256","authenticated-orcid":false,"given":"Ella","family":"Atkins","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0506-907X","authenticated-orcid":false,"given":"Matthew","family":"Johnson-Roberson","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1978-0572","authenticated-orcid":false,"given":"Ram","family":"Vasudevan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1504-966X","authenticated-orcid":false,"given":"Xiaoxiao","family":"Du","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","article-title":"Joint attention in autonomous driving","author":"kotseruba","year":"2016"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460203"},{"key":"ref33","article-title":"Drogon: A causal reasoning framework for future trajectory forecast","author":"choi","year":"2019"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594393"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500493"},{"key":"ref30","article-title":"Social-bigat: Multimodal trajectory forecasting using bicycle-gan and graph attention networks","author":"kosaraju","year":"0","journal-title":"Proc Int Conf Neural Inf Process"},{"key":"ref37","article-title":"Trajectory forecasts in unknown environments conditioned on grid-based plans","author":"deo","year":"2020"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2019.1635910"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/DICTA.2017.8227412"},{"key":"ref34","article-title":"Intention-aware residual bidirectional lstm for long-term pedestrian trajectory prediction","author":"huang","year":"2020"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"ref40","first-page":"261","article-title":"You&#x2019;ll never walk alone: Modeling social behavior for multi-Target tracking","author":"pellegrini","year":"0","journal-title":"Proc Int Conf Comput Visi"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.51.4282"},{"key":"ref12","volume":"2","author":"williams","year":"2006","journal-title":"Gaussian Processes for Machine Learning"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00240"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2015.494"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2719762"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.233"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967857"},{"key":"ref18","article-title":"Multipath: Multiple probabilistic anchor trajectory hypotheses for behavior prediction","author":"chai","year":"2019"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00246"},{"key":"ref28","article-title":"Learning structured output representation using deep conditional generative models","author":"sohn","year":"0","journal-title":"Proc Conf Neural Infor Process Syst"},{"key":"ref4","article-title":"Game-theoretic modeling of multi-vehicle interactions at uncontrolled intersections","author":"li","year":"2019"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00291"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2014.2309055"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967556"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00885"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01227"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569253"},{"key":"ref7","article-title":"When, where, and what? a new dataset for anomaly detection in driving videos","author":"yao","year":"2020"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00587"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569253"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.110"},{"key":"ref20","article-title":"Trajectron : Multi-agent generative trajectory forecasting with heterogeneous data for control","author":"salzmann","year":"2020"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.01005"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794474"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2895266"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.497"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460651"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2014.453"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00636"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00144"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2015.28"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00441"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58536-5_45"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9285111\/09345445.pdf?arnumber=9345445","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:54:29Z","timestamp":1652194469000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9345445\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4]]},"references-count":45,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2021.3056339","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4]]}}}