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Heterogeneous Trajectory Forecasting via Risk and Scene Gra..:

Fang, Jianwu ; Zhu, Chen ; Zhang, Pu..
IEEE Transactions on Intelligent Transportation Systems.  24 (2023)  11 - p. 12078-12091 , 2023
Link: https://doi.org/10.1109/tits.2023.3287186