We address one of the crucial aspects necessary for safe and efficient operations of autonomous vehicles, namely predicting future state of traffic actors in the autonomous vehicle's surroundings. We introduce a deep learning-based approach that takes into account a current world state and produces raster images of each actor's vicinity. The rasters are then used as inputs to deep convolutional models to infer future movement of actors while also accounting for and capturing inherent

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... of the prediction task. Extensive experiments on real-world data strongly suggest benefits of the proposed approach. Moreover, following completion of the offline tests the system was successfully tested onboard self-driving vehicles.