LEGO-Motion: Learning-Enhanced Grids with Occupancy Instance Modeling for Class-Agnostic Motion Prediction

• URL: http://arxiv.org/abs/2503.07367v1
• Date: Mon, 10 Mar 2025 14:26:21 GMT
• Title: LEGO-Motion: Learning-Enhanced Grids with Occupancy Instance Modeling for Class-Agnostic Motion Prediction
• Authors: Kangan Qian, Jinyu Miao, Ziang Luo, Zheng Fu, and Jinchen Li, Yining Shi, Yunlong Wang, Kun Jiang, Mengmeng Yang, Diange Yang,
• Abstract summary: We introduce a novel occupancy-instance modeling framework for class-agnostic motion prediction tasks, named LEGO-Motion.<n>Our model comprises (1) a BEV encoder, (2) an Interaction-Augmented Instance, and (3) an Instance-Enhanced BEV.<n>Our method achieves state-of-the-art performance, outperforming existing approaches.
• Score: 12.071846486955627
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Accurate and reliable spatial and motion information plays a pivotal role in autonomous driving systems. However, object-level perception models struggle with handling open scenario categories and lack precise intrinsic geometry. On the other hand, occupancy-based class-agnostic methods excel in representing scenes but fail to ensure physics consistency and ignore the importance of interactions between traffic participants, hindering the model's ability to learn accurate and reliable motion. In this paper, we introduce a novel occupancy-instance modeling framework for class-agnostic motion prediction tasks, named LEGO-Motion, which incorporates instance features into Bird's Eye View (BEV) space. Our model comprises (1) a BEV encoder, (2) an Interaction-Augmented Instance Encoder, and (3) an Instance-Enhanced BEV Encoder, improving both interaction relationships and physics consistency within the model, thereby ensuring a more accurate and robust understanding of the environment. Extensive experiments on the nuScenes dataset demonstrate that our method achieves state-of-the-art performance, outperforming existing approaches. Furthermore, the effectiveness of our framework is validated on the advanced FMCW LiDAR benchmark, showcasing its practical applicability and generalization capabilities. The code will be made publicly available to facilitate further research.

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