@article{article4952987a,
title   = {Scene compliant trajectory forecast with agent-centric spatio-temporal grids},
author = {Ridel, Daniela Alves and Deo, Nachiket and Wolf, Denis Fernando and Trivedi, Mohan},
year = {2020},
doi = {10.1109/LRA.2020.2974393},
journal   = {IEEE Robotics and Automation Letters}
}