What we see and What we don't see: Imputing Occluded Crowd Structures from Robot Sensing
We consider the navigation of mobile robots in crowded environments, for which onboard sensing of the crowd is typically limited by occlusions. We address the problem of inferring the human occupancy in the space around the robot, in blind spots, beyond the range of its sensing capabilities. This problem is rather unexplored in spite of the important impact it has on the robot crowd navigation efficiency and safety, which requires the estimation and the prediction of the crowd state around it. In this work, we propose the first solution to sample predictions of possible human presence based on the state of a fewer set of sensed people around the robot as well as previous observations of the crowd activity.
PDF AbstractTasks
Datasets
UCY
Results from the Paper
Submit
results from this paper
to get state-of-the-art GitHub badges and help the
community compare results to other papers.
Methods
No methods listed for this paper. Add
relevant methods here
