BézierVAE: Improved Trajectory Modeling using Variational Autoencoders for the Safety Validation of Highly Automated Vehicles. - Robert Krajewski; Tobias Moers; Adrian Meister; Lutz Eckstein (ITSC, 2019)

Using Drones as Reference Sensors for Neural-Networks-Based Modeling of Automotive Perception Errors**The research leading to these results is funded by the Federal Ministry for Economic Affairs and Energy within the project "VVM - Verification and Validation Methods for Automated Vehicles Level 4 and 5". The authors would like to thank the consortium for the successful cooperation. - Robert Krajewski; Michael Hoss; Adrian Meister; Fabian Thomsen; Julian Bock; Lutz Eckstein (IV, 2020)