Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Generic Tracking and Probabilistic Prediction Framework and Its
  Application in Autonomous Driving   Accurately tracking and predicting behaviors of surrounding objects are key
prerequisites for intelligent systems such as autonomous vehicles to achieve
safe and high-quality decision making and motion planning. However, there still
remain challenges for multi-target tracking due to object number fluctuation
and occlusion. To overcome these challenges, we propose a constrained mixture
sequential Monte Carlo (CMSMC) method in which a mixture representation is
incorporated in the estimated posterior distribution to maintain
multi-modality. Multiple targets can be tracked simultaneously within a unified
framework without explicit data association between observations and tracking
targets. The framework can incorporate an arbitrary prediction model as the
implicit proposal distribution of the CMSMC method. An example in this paper is
a learning-based model for hierarchical time-series prediction, which consists
of a behavior recognition module and a state evolution module. Both modules in
the proposed model are generic and flexible so as to be applied to a class of
time-series prediction problems where behaviors can be separated into different
levels. Finally, the proposed framework is applied to a numerical case study as
well as a task of on-road vehicle tracking, behavior recognition, and
prediction in highway scenarios. Instead of only focusing on forecasting
trajectory of a single entity, we jointly predict continuous motions for
interactive entities simultaneously. The proposed approaches are evaluated from
multiple aspects, which demonstrate great potential for intelligent vehicular
systems and traffic surveillance systems.

22
The categories of this paper are: chao-dyn
13
The categories of this paper are: quant-ph
37
The categories of this paper are: supr-con
23
The categories of this paper are: solv-int
5
The categories of this paper are: gr-qc
21
The categories of this paper are: adap-org
27
The categories of this paper are: comp-gas
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics
25
The categories of this paper are: patt-sol
12
The categories of this paper are: nucl-th
17
The categories of this paper are: q-fin
35
The categories of this paper are: mtrl-th
29
The categories of this paper are: funct-an
14
The categories of this paper are: math-ph
6
The categories of this paper are: astro-ph