Calculating the bounds

[vinit-katariya]

I wanted to know if you have any scripts or formulae to calculate the bounds, xy_distribution, detect_opts values for the datasets as done in AdvTrajPrediction/prediction/dataset/apolloscape.py and other dataset specific files in dataset folder.

It will be great if you can share this information as it will help us for testing other datasets as well.

[zqzqz]

Sorry for this very late reply. Unfortunately I lost the specific scripts over the years. Basically:

xy_distribution is computed on the whole training set, calculating min/max/mean/std of x and y locations (transformed to meters). This is used for standarlization for models.

bounds is the physical constraints used by the attack algorithms. The bounds are 3 times of standard deviation of the distribution of training data. Basically, we get each trajectory, fit the dynamic model to have a list of velocity and acceleration, and get the distribution eventually.

detect_opts is only used in our proposed anomaly detection. The numbers are empirical numbers and not guaranteed to be optimal.

Hope this clarification useful for new users.