{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T16:59:19Z","timestamp":1770483559786,"version":"3.49.0"},"reference-count":117,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"12","license":[{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"FCT\u2013Foundation for Science and Technology, in the context of the Ph.D. Scholarship","award":["2023.02251.BD"],"award-info":[{"award-number":["2023.02251.BD"]}]},{"name":"National Funds through the FCT\u2013Foundation for Science and Technology, in the context of the Project","award":["UID\/00127"],"award-info":[{"award-number":["UID\/00127"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Transport. Syst."],"published-print":{"date-parts":[[2025,12]]},"DOI":"10.1109\/tits.2025.3607743","type":"journal-article","created":{"date-parts":[[2025,9,22]],"date-time":"2025-09-22T17:46:05Z","timestamp":1758563165000},"page":"21427-21452","source":"Crossref","is-referenced-by-count":1,"title":["Joint Perception and Prediction for Autonomous Driving: A Survey"],"prefix":"10.1109","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6121-6743","authenticated-orcid":false,"given":"Lucas","family":"Dal'Col","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering (DEM), Intelligent System Associate Laboratory (LASI), Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro (UA), Aveiro, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9288-5058","authenticated-orcid":false,"given":"Miguel","family":"Oliveira","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering (DEM), Intelligent System Associate Laboratory (LASI), Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro (UA), Aveiro, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1283-7388","authenticated-orcid":false,"given":"V\u00edtor","family":"Santos","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering (DEM), Intelligent System Associate Laboratory (LASI), Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro (UA), Aveiro, Portugal"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2983149"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2926042"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940562"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3223131"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3275792"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3054625"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3192019"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3046646"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i10.29049"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2023.3342419"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.2972974"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3160932"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3156011"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2498841"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2022.108796"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01157"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01136"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2018.02.012"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3060821"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10489-021-02293-7"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3118224"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3012034"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3167103"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2021.08.155"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.3390\/app122110741"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3266446"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.3390\/su152014716"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2023.3346386"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2023.3341952"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2024.3374342"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2023.3333838"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2024.3439557"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2024.125103"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00376"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00886"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2024.3435937"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3144867"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01140"},{"key":"ref40","article-title":"BEVerse: Unified perception and prediction in birds-eye-view for vision-centric autonomous driving","author":"Zhang","year":"2022","journal-title":"arXiv:2205.09743"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3047793"},{"key":"ref42","article-title":"LiDAR-based 4D occupancy completion and forecasting","author":"Liu","year":"2023","journal-title":"arXiv:2310.11239"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/VTC2021-Fall52928.2021.9625271"},{"key":"ref44","first-page":"947","article-title":"IntentNet: Learning to predict intention from raw sensor data","volume-title":"Proc. 2nd Conf. Robot Learn.","author":"Casas"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58592-1_25"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01417"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/IV48863.2021.9575718"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636691"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19839-7_21"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196697"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58592-1_37"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341199"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00465"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01580"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/TMM.2018.2818020"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01658"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01688"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i6.28358"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01387"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/GLOBECOM48099.2022.10001152"},{"key":"ref61","first-page":"140","volume-title":"SDP-Net: Scene Flow Based Real-Time Object Detection Predict from Sequential 3D Point Clouds","volume":"12622","author":"Zhang","year":"2021"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/IJCNN52387.2021.9533290"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00139"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.106"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC55140.2022.9922356"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2023\/103"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01298"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01669"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-73223-2_19"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00472"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/IV51971.2022.9827310"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01499"},{"key":"ref73","first-page":"2017","article-title":"Spatial transformer networks","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","volume":"28","author":"Jaderberg"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2023\/120"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19839-7_31"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19839-7_26"},{"key":"ref77","article-title":"Perceive, interact, predict: Learning dynamic and static clues for end-to-end motion prediction","author":"Jiang","year":"2022","journal-title":"arXiv:2212.02181"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01712"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00138"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00532"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00766"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636083"},{"key":"ref83","first-page":"11","article-title":"Inverting the pose forecasting pipeline with SPF2: Sequential pointcloud forecasting for sequential pose forecasting","volume-title":"Proc. Conf. Robot Learn.","author":"Weng"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/WACV51458.2022.00335"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00114"},{"key":"ref86","article-title":"FISHING net: Future inference of semantic heatmaps in grids","author":"Hendy","year":"2020","journal-title":"arXiv:2006.09917"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341392"},{"key":"ref88","first-page":"31","article-title":"LiRaNet: End-to-end trajectory prediction using spatio-temporal radar fusion","volume-title":"Proc. Conf. Robot Learn.","author":"Shah"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00320"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW53098.2021.00321"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3123169"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/OJITS.2022.3160888"},{"key":"ref93","article-title":"FusionAD: Multi-modality fusion for prediction and planning tasks of autonomous driving","author":"Ye","year":"2023","journal-title":"arXiv:2308.01006"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i2.27940"},{"key":"ref95","first-page":"802","article-title":"Convolutional LSTM network: A machine learning approach for precipitation nowcasting","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Shi"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.90"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-24574-4_28"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01164"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46448-0_2"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793868"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01161"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1002\/nav.3800020109"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00895"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00252"},{"key":"ref105","first-page":"409","article-title":"One thousand and one hours: Self-driving motion prediction dataset","volume-title":"Proc. Conf. Robot Learn.","author":"Houston"},{"key":"ref106","first-page":"1","article-title":"Argoverse 2: Next generation datasets for self-driving perception and forecasting","volume-title":"Proc. Neural Inf. Process. Syst. Track Datasets Benchmarks","author":"Wilson"},{"issue":"6","key":"ref107","first-page":"5599","article-title":"DeepAccident: A motion and accident prediction benchmark for V2X autonomous driving","volume-title":"Proc. AAAI Conf. Artif. Intell.","volume":"38","author":"Wang"},{"key":"ref108","first-page":"1","article-title":"CARLA: An open urban driving simulator","volume-title":"Proc. 1st Annu. Conf. Robot Learn.","volume":"78","author":"Dosovitskiy"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref110","article-title":"Reaction time of drivers to road stimuli","author":"Triggs","year":"1982"},{"key":"ref111","first-page":"1","article-title":"Multi-task learning as multi-objective optimization","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"\u015eener"},{"key":"ref112","first-page":"86","article-title":"Multipath: Multiple probabilistic anchor trajectory hypotheses for behavior prediction","volume-title":"Proc. Conf. Robot Learn.","author":"Chai"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58536-5_32"},{"key":"ref114","first-page":"1","article-title":"Scene transformer: A unified architecture for predicting future trajectories of multiple agents","volume-title":"Proc. Int. Conf. Learn. Represent.","author":"Ngiam"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160984"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00798"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341164"}],"container-title":["IEEE Transactions on Intelligent Transportation Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/6979\/11278554\/11174066.pdf?arnumber=11174066","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T20:52:00Z","timestamp":1770411120000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11174066\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12]]},"references-count":117,"journal-issue":{"issue":"12"},"URL":"https:\/\/doi.org\/10.1109\/tits.2025.3607743","relation":{},"ISSN":["1524-9050","1558-0016"],"issn-type":[{"value":"1524-9050","type":"print"},{"value":"1558-0016","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12]]}}}