DenseCAvoid: Real-time Navigation in Dense Crowds using Anticipatory Behaviors
DenseCAvoid: Real-time Navigation in Dense Crowds using Anticipatory Behaviors
We present DenseCAvoid, a novel algorithm for navigating a robot through dense crowds and avoiding collisions by anticipating pedestrian behaviors. Our formulation uses visual sensors and a pedestrian trajectory prediction algorithm to track pedestrians in a set of input frames and compute bounding boxes that extrapolate to the pedestrian positions …