Related papers: Virtual Experience to Real World Application: Side…
Millions of blind and visually-impaired (BVI) people navigate urban environments every day, using smartphones for high-level path-planning and white canes or guide dogs for local information. However, many BVI people still struggle to…
Visually impaired people face numerous challenges when it comes to transportation. Not only must they circumvent obstacles while navigating, but they also need access to essential information related to available public transport,…
For real-world navigation, it is important to endow robots with the capabilities to navigate safely and efficiently in a complex environment with both dynamic and non-convex static obstacles. However, achieving path-finding in non-convex…
We present Topology-Guided ORCA as an alternative simulator to replace ORCA for planning smooth multi-agent motions in environments with static obstacles. Despite the impressive performance in simulating multi-agent crowd motion in free…
Remote sighted assistance (RSA) has emerged as a conversational assistive technology, where remote sighted workers, i.e., agents, provide real-time assistance to users with vision impairments via video-chat-like communication. Researchers…
Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emerged as an alternative planning method to conservative…
The gap between simulation and the real-world restrains many machine learning breakthroughs in computer vision and reinforcement learning from being applicable in the real world. In this work, we tackle this gap for the specific case of…
In this paper, we propose a deep learning based assistive system to improve the environment perception experience of visually impaired (VI). The system is composed of a wearable terminal equipped with an RGBD camera and an earphone, a…
This paper introduces SANGO (Socially Aware Navigation through Grouped Obstacles), a novel method that ensures socially appropriate behavior by dynamically grouping obstacles and adhering to social norms. Using deep reinforcement learning,…
Obstacle avoidance enables autonomous agents and robots to operate safely and efficiently in dynamic and complex environments, reducing the risk of collisions and damage. For a robot or autonomous system to successfully navigate through…
People with visual impairment (PVI) must interact with a world they cannot see. Remote sighted assistance has emerged as a conversational/social support system. We interviewed participants who either provide or receive assistance via a…
This paper presents a wearable assistive device with the shape of a pair of eyeglasses that allows visually impaired people to navigate safely and quickly in unfamiliar environment, as well as perceive the complicated environment to…
Most microscopic pedestrian navigation models use the concept of "forces" applied to the pedestrian agents to replicate the navigation environment. While the approach could provide believable results in regular situations, it does not…
Safe navigation for the visually impaired individuals remains a critical challenge, especially concerning head-level obstacles, which traditional mobility aids often fail to detect. We introduce GuideTouch, a compact, affordable, standalone…
A smart navigation system (an Electronic Travel Aid) based on an object detection mechanism has been designed to detect the presence of obstacles that immediately impede the path, by means of real time video processing. The algorithm can be…
Pedestrians approaching each other on a sidewalk sometimes end up in an awkward interaction known as the "sidewalk salsa": they both (repeatedly) deviate to the same side to avoid a collision. This provides an interesting use case to study…
Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This paper aims to develop a quadruped robot that follows a route…
In the context of autonomous navigation, effectively conveying abstract navigational cues to agents in dynamic environments presents significant challenges, particularly when navigation information is derived from diverse modalities such as…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…
Navigating unsignalized intersections in urban environments poses a complex challenge for self-driving vehicles, where issues such as view obstructions, unpredictable pedestrian crossings, and diverse traffic participants demand a great…