---
license: mit
tags:
- trajectory-prediction
- object-tracking
- physics-kinematics
- robotics
- computer-vision
- onnx
metrics:
- ade: 0.0711
- fde: 0.1572
---

# Lazarus Object Trajectory Predictor

**Lazarus Trajectory Predictor** is a physics-informed deep sequence model engineered for real-time trajectory forecasting, aerodynamic ballistic arc extrapolation, impact estimation, and motion classification for autonomous vision systems and robotics.

Trained on Google Colab **Tesla T4 GPU**.

### Model Details
- **Architecture**: Attentive Residual Conv1D-Bidirectional GRU
- **History Horizon**: 15 timesteps (~0.5s @ 30 FPS) of `[x, y, vx, vy, ax, ay]`
- **Prediction Horizon**: 20 future timesteps (~0.67s @ 30 FPS) of coordinates and impact landing reticle
- **Physics Regimes**: Parabolic Ballistics (Gravity & Drag), Rebounding Bounces, Curved Evasion, Accelerated Kinematics, Stable Drift.
- **Inference Runtime**: ONNX Runtime / OpenCV DNN CPU real-time (< 2ms per query).

### Telemetry Performance
- **Validation Loss**: `0.04453`
- **Average Displacement Error (ADE)**: `0.0711` (normalized viewport)
- **Final Displacement Error (FDE)**: `0.1572` (normalized viewport)
- **Classification Accuracy**: `80.0%`