US Patent 11062141 Methods and apparatuses for future trajectory forecast

Aspects of the present disclosure may include methods, apparatuses, and computer readable media for receiving a plurality of images having a plurality of interactions associated with a plurality of objects, identifying a plurality of spatial features from the plurality of images, identifying a plurality of spatial-temporal features from the plurality of spatial features, obtaining a past trajectory data of the target, generating a relational state of the target and the plurality of interactions based at least on the past trajectory data, the plurality of spatial-temporal features, or the plurality of descriptive relations, and generating a plurality of heatmaps indicating a projected trajectory of the target.