OF-VO: Efficient Navigation Among Pedestrians Using Commodity Sensors
OF-VO: Efficient Navigation Among Pedestrians Using Commodity Sensors
We present a modified velocity-obstacle (VO) algorithm that uses probabilistic partial observations of the environment to compute velocities and navigate a robot to a target. Our system uses commodity visual sensors, including a mono-camera and a 2D Lidar, to explicitly predict the velocities and positions of surrounding obstacles through optical …