  Trajectory prediction is a critical technique in the navigation of robots and
autonomous vehicles. However, the complex traffic and dynamic uncertainties
yield challenges in the effectiveness and robustness in modeling. We purpose a
data-driven approach socially aware Kalman neural networks (SAKNN) where the
interaction layer and the Kalman layer are embedded in the architecture,
resulting in a class of architectures with huge potential to directly learn
from high variance sensor input and robustly generate low variance outcomes.
The evaluation of our approach on NGSIM dataset demonstrates that SAKNN
performs state-of-the-art on prediction effectiveness in a relatively long-term
horizon and significantly improves the signal-to-noise ratio of the predicted
signal.
