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MamMA: A Mamba-Based Pedestrian Trajectory Prediction Algorithm Considering Occupancy Map and Pedestrian Awareness States

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Many pedestrian trajectory prediction algorithms have been proposed to improve the safety of navigation for mobile robots working in human-robot coexistence environments. Some pedestrian trajectory prediction algorithms extract information about obstacles near pedestrians from top-down view images to improve the accuracy of trajectory prediction. However, mobile robots typically create local occupancy maps using LiDAR, rather than top-down view images. Meanwhile, the vision sensors on board robots provide egocentric view images, which contain fine-grained behavioral information about the pedes

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