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- Publisher Website: 10.1007/978-3-030-71151-1_32
- Scopus: eid_2-s2.0-85107081359
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Conference Paper: Crowd-driven mapping, localization and planning
Title | Crowd-driven mapping, localization and planning |
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Authors | |
Issue Date | 2021 |
Publisher | Springer. |
Citation | The 17th International Symposium on Experimental Robotics (ISER), La Valletta, Malta, 9-12 November 2020. In Siciliano, B, Laschi, C & Khatib, O (Eds). Experimental Robotics: The 17th International Symposium, p. 354-368. Cham: Springer, 2021 How to Cite? |
Abstract | Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all troubles: they negatively affect the sensing of static scene landmarks and must be actively avoided for safety. In this paper, we provide a new perspective: the crowd flow locally observed can be treated as a sensory measurement about the surrounding scenario, encoding not only the scene’s traversability but also its social navigation preference. We demonstrate that even using the crowd-flow measurement alone without any sensing about static obstacles, our method still accomplishes good results for mapping, localization, and social-aware planning in dense crowds. |
Description | Conference was postponed due to COVID-19 |
Persistent Identifier | http://hdl.handle.net/10722/300620 |
ISBN | |
Series/Report no. | Springer Proceedings in Advanced Robotics (SPAR) ; vol. 19 |
DC Field | Value | Language |
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dc.contributor.author | Fan, T | - |
dc.contributor.author | Wang, D | - |
dc.contributor.author | Liu, W | - |
dc.contributor.author | Pan, J | - |
dc.date.accessioned | 2021-06-18T14:54:36Z | - |
dc.date.available | 2021-06-18T14:54:36Z | - |
dc.date.issued | 2021 | - |
dc.identifier.citation | The 17th International Symposium on Experimental Robotics (ISER), La Valletta, Malta, 9-12 November 2020. In Siciliano, B, Laschi, C & Khatib, O (Eds). Experimental Robotics: The 17th International Symposium, p. 354-368. Cham: Springer, 2021 | - |
dc.identifier.isbn | 9783030711504 | - |
dc.identifier.uri | http://hdl.handle.net/10722/300620 | - |
dc.description | Conference was postponed due to COVID-19 | - |
dc.description.abstract | Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all troubles: they negatively affect the sensing of static scene landmarks and must be actively avoided for safety. In this paper, we provide a new perspective: the crowd flow locally observed can be treated as a sensory measurement about the surrounding scenario, encoding not only the scene’s traversability but also its social navigation preference. We demonstrate that even using the crowd-flow measurement alone without any sensing about static obstacles, our method still accomplishes good results for mapping, localization, and social-aware planning in dense crowds. | - |
dc.language | eng | - |
dc.publisher | Springer. | - |
dc.relation.ispartof | Experimental Robotics: The 17th International Symposium | - |
dc.relation.ispartofseries | Springer Proceedings in Advanced Robotics (SPAR) ; vol. 19 | - |
dc.title | Crowd-driven mapping, localization and planning | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Pan, J: jpan@cs.hku.hk | - |
dc.identifier.authority | Pan, J=rp01984 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1007/978-3-030-71151-1_32 | - |
dc.identifier.scopus | eid_2-s2.0-85107081359 | - |
dc.identifier.hkuros | 323047 | - |
dc.identifier.hkuros | 323026 | - |
dc.identifier.spage | 354 | - |
dc.identifier.epage | 368 | - |
dc.publisher.place | Cham | - |