nikhilpopli4900 / KalmanBaseline

Baseline Kalman models for trajectory predictions. One is constant velocity LSTM

Baseline Models

This is a code for baseline production using Kalman filter. It is the implementation of the models presented in : https://arxiv.org/abs/1908.11472

This may be quiet slow to train... contributions are welcome

Kalman filter approximated trained parameters are hard coded as initial values.

NGSIM dataset

From NGSIM website:

• Register at https://data.transportation.gov/Automobiles/Next-Generation-Simulation-NGSIM-Vehicle-Trajector/8ect-6jqj
• Download US-101-LosAngeles-CA.zip and I-80-Emeryville-CA.zip
• Unzip and extract vehicle-trajectory-data into raw/us-101 and raw/i-80

From googledrive:

• Download i-80: https://drive.google.com/open?id=19ovxiJLCnS1ar1dYvUIrfdz_UnGejK-k
• DOwnload us-101: https://drive.google.com/open?id=14dMKew22_5evfOoSGEBYqHP3L92e7nyJ

Dataset fields:

• doc/trajectory-data-dictionary.htm

Reference .mat files

Obtained with preprocess_data.m applied to above NGSIM dataset