# BiTraP: Bi-Directional Pedestrian Trajectory Prediction With Multi-Modal Goal Estimation

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 184× · AI/ML

**Wikidata**: [openalex:W3127710918](https://www.wikidata.org/wiki/openalex:W3127710918)  
**Source**: https://4ort.xyz/entity/bitrap-bi-directional-pedestrian-trajectory-prediction-with-multi-modal-goal-estimation