You can also find the full draft for my Master Thesis here: https://www.researchgate.net/publication/346541545_Trajectory_Prediction_for_ADAS
I have uploaded a video presentation about this project: https://www.youtube.com/watch?v=yULuUazYcsU
I have written about this project in detail here: https://medium.com/@sarim.mehdi.550/trajectory-prediction-for-adas-d1210e01f15
Robust pipeline that includes 3D object detection plus trajectory prediction. A lot of work is in progress but will be completed by mid August. Your folder structure should look like this (label_2, DETS2D and DETS3D are folders that contain label files for each frame)
kitti_folder_loc
├── calib
├── image_2
├── image_3
├── label_2
├── velodyne
├── fake_velodyne
├── DETS3D
└── DETS2D