Time-varying Pedestrian Flow Models for Service Robots

Vintr, Tomas, Molina Mellado, Sergi, Senanayake, Ransalu , Broughton, George, Yan, Zhi, Ulrich, Jiri, Kucner, Tomasz, Swaminathan, Chittaranjan, Majer, Filip, Stachova, Maria, Lilienthal, Achim and Krajnik, Tomas (2019) Time-varying Pedestrian Flow Models for Service Robots. In: European Conference on Mobile Robotics (ECMR 2019), 4th-6th September 2019, Prague.

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Time-varying Pedestrian Flow Models for Service Robots
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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


We present a human-centric spatiotemporal model for service robots operating in densely populated environments
for long time periods. The method integrates observations of pedestrians performed by a mobile robot at different locations and times into a memory efficient model, that represents the spatial layout of natural pedestrian flows and how they change over time. To represent temporal variations of the observed flows, our method does not model the time in a linear fashion, but by several dimensions wrapped into themselves. This representation of time can capture long-term (i.e. days to weeks) periodic patterns of peoples’ routines and habits. Knowledge of these patterns allows
making long-term predictions of future human presence and walking directions, which can support mobile robot navigation in human-populated environments. Using datasets gathered for several weeks, we compare the model to state-of-the-art methods for pedestrian flow modelling.

Keywords:mobile robotics, people motion modelling, long-term data, Spatio-Temporal Modeling
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
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ID Code:36568
Deposited On:02 Aug 2019 14:02

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