  To plan a safe and efficient route, an autonomous vehicle should anticipate
future trajectories of other agents around it. Trajectory prediction is an
extremely challenging task which recently gained a lot of attention in the
autonomous vehicle research community. Trajectory-prediction forecasts future
state of all the dynamic agents in the scene given their current and past
states. A good prediction model can prevent collisions on the road, and hence
the ultimate goal for autonomous vehicles: Collision rate: collisions per
Million miles. The objective of this paper is to provide an overview of the
field trajectory-prediction. We categorize the relevant algorithms into
different classes so that researchers can follow through the trends in the
trajectory-prediction research field. Moreover we also touch upon the
background knowledge required to formulate a trajectory-prediction problem.
