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Human Motion Predic...
Human Motion Prediction under Social Grouping Constraints
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- Rudenko, Andrey, 1991- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Bosch Corporate Research, Stuttgart, Germany,AASS MRO Lab
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- Palmieri, Luigi (författare)
- Bosch Corporate Research, Stuttgart, Germany
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- Lilienthal, Achim, 1970- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS MRO Lab
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- Arras, Kai O. (författare)
- Bosch Corporate Research, Stuttgart, Germany
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(creator_code:org_t)
- IEEE, 2018
- 2018
- Engelska.
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Ingår i: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : IEEE. - 9781538680940 - 9781538680957 ; , s. 3358-3364
- Relaterad länk:
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https://oru.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Accurate long-term prediction of human motion inpopulated spaces is an important but difficult task for mobile robots and intelligent vehicles. What makes this task challenging is that human motion is influenced by a large variety offactors including the person’s intention, the presence, attributes, actions, social relations and social norms of other surrounding agents, and the geometry and semantics of the environment. In this paper, we consider the problem of computing human motion predictions that account for such factors. We formulate the task as an MDP planning problem with stochastic policies and propose a weighted random walk algorithm in which each agent is locally influenced by social forces from other nearby agents. The novelty of this paper is that we incorporate social grouping information into the prediction process reflecting the soft formation constraints that groups typically impose to their members’ motion. We show that our method makes more accurate predictions than three state-of-the-art methods in terms of probabilistic and geometrical performance metrics.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Human motion prediction
- human robot interaction
- social forces
- human-aware planning
- Datalogi
- Computer and Systems Science
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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