“…This prediction is achieved using information from their current motion such as velocity, acceleration or previous trajectory, and some contextual elements about the scene. This context can take various forms, ranging from raw LiDAR point clouds [7], [8], [9], [10], [25], [26], [27] and RGB camera stream [25], [28], [29], [30] to more semantic representations including High-Definition maps [2], [5], [6], [7], [8], [11], [31], or detections of other agents and their motion information [5], [6], [12], [14]. Recent trajectory prediction models are designed to produce multiple forecasts, attempting to capture the multiplicity of possible futures [12], [32], [33].…”