Related papers: LiDAR-based Crowd Navigation with Visible Edge Gro…
Emergency evacuation describes a complex situation involving time-critical decision-making by evacuees. Mobile robots are being actively explored as a potential solution to provide timely guidance. In this work, we study a robot-guided…
A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…
Autonomous vehicle navigation in shared pedestrian environments requires the ability to predict future crowd motion both accurately and with minimal delay. Understanding the uncertainty of the prediction is also crucial. Most existing…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system…
Accurately detecting and tracking pedestrians in 3D space is challenging due to large variations in rotations, poses and scales. The situation becomes even worse for dense crowds with severe occlusions. However, existing benchmarks either…
Robot navigation in densely populated environments presents significant challenges, particularly regarding the interplay between individual and group dynamics. Current navigation models predominantly address interactions with individual…
As the population of world is increasing, and even more concentrated in urban areas, ensuring public safety is becoming a taunting job for security personnel and crowd managers. Mass events like sports, festivals, concerts, political…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…
Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…
This paper presents a novel data-driven crowd simulation method that can mimic the observed traffic of pedestrians in a given environment. Given a set of observed trajectories, we use a recent form of neural networks, Generative Adversarial…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
Crowd counting aims to count the number of instantaneous people in a crowded space, and many promising solutions have been proposed for single image crowd counting. With the ubiquitous video capture devices in public safety field, how to…
Crowd density level estimation is an essential aspect of crowd safety since it helps to identify areas of probable overcrowding and required conditions. Nowadays, AI systems can help in various sectors. Here for safety purposes or many for…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…
Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…