Corpus ID: 237563066

What we see and What we don't see: Imputing Occluded Crowd Structures from Robot Sensing

@article{Amirian2021WhatWS,
  title={What we see and What we don't see: Imputing Occluded Crowd Structures from Robot Sensing},
  author={Javad Amirian and Jean-Bernard Hayet and Julien Pettr{\'e}},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.08494}
}
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… Expand

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