# Multimodal Trajectory Predictions for Urban Environments Using Geometric Relationships between a Vehicle and Lanes

> Research article (2020 IEEE International Conference on Robotics and Automation (ICRA), 2020) · cited 19× · AI/ML

**Wikidata**: [openalex:W3089418799](https://www.wikidata.org/wiki/openalex:W3089418799)  
**Source**: https://4ort.xyz/entity/multimodal-trajectory-predictions-for-urban-environments-using-geometric-relationships-between-a-vehicle-and-lanes