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.
翻译:我们考虑的是移动机器人在拥挤环境中的导航问题,因为机上对人群的感知通常受到隔离的限制。我们处理在机器人周围的空间、盲点、超出其感知能力范围的盲点中推断人类占用空间的问题。尽管这个问题对机器人人群导航效率和安全产生了重大影响,需要估计和预测周围人群的状态。在这个工作中,我们提出了第一种解决办法,根据机器人周围少数被感知的人的状况以及先前对人群活动的观察,抽样预测可能存在的人类存在。