A trajectory predictor can be trained on dynamic-SLAM estimates instead of ground-truth data, but the paper's evaluation only checks consistency with those same estimates, not accuracy.
A survey of autonomous driving: Common practices and emerging technologies,
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Training Trajectory Predictors Without Ground-Truth Data
A trajectory predictor can be trained on dynamic-SLAM estimates instead of ground-truth data, but the paper's evaluation only checks consistency with those same estimates, not accuracy.