Toward Benchmarking of Long-Term Spatio-Temporal Maps of Pedestrian Flows for Human-Aware Navigation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00359297" target="_blank" >RIV/68407700:21230/22:00359297 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.3389/frobt.2022.890013" target="_blank" >https://doi.org/10.3389/frobt.2022.890013</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3389/frobt.2022.890013" target="_blank" >10.3389/frobt.2022.890013</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Toward Benchmarking of Long-Term Spatio-Temporal Maps of Pedestrian Flows for Human-Aware Navigation

Popis výsledku v původním jazyce

Despite the advances in mobile robotics, the introduction of autonomous robots in human-populated environments is rather slow. One of the fundamental reasons is the acceptance of robots by people directly affected by a robot's presence. Understanding human behavior and dynamics is essential for planning when and how robots should traverse busy environments without disrupting people's natural motion and causing irritation. Research has exploited various techniques to build spatio-temporal representations of people's presence and flows and compared their applicability to plan optimal paths in the future. Many comparisons of how dynamic map-building techniques show how one method compares on a dataset versus another, but without consistent datasets and high-quality comparison metrics, it is difficult to assess how these various methods compare as a whole and in specific tasks. This article proposes a methodology for creating high-quality criteria with interpretable results for comparing long-term spatio-temporal representations for human-aware path planning and human-aware navigation scheduling. Two criteria derived from the methodology are then applied to compare the representations built by the techniques found in the literature. The approaches are compared on a real-world, long-term dataset, and the conception is validated in a field experiment on a robotic platform deployed in a human-populated environment. Our results indicate that continuous spatio-temporal methods independently modeling spatial and temporal phenomena outperformed other modeling approaches. Our results provide a baseline for future work to compare a wide range of methods employed for long-term navigation and provide researchers with an understanding of how these various methods compare in various scenarios.

Název v anglickém jazyce

Toward Benchmarking of Long-Term Spatio-Temporal Maps of Pedestrian Flows for Human-Aware Navigation

Popis výsledku anglicky

Despite the advances in mobile robotics, the introduction of autonomous robots in human-populated environments is rather slow. One of the fundamental reasons is the acceptance of robots by people directly affected by a robot's presence. Understanding human behavior and dynamics is essential for planning when and how robots should traverse busy environments without disrupting people's natural motion and causing irritation. Research has exploited various techniques to build spatio-temporal representations of people's presence and flows and compared their applicability to plan optimal paths in the future. Many comparisons of how dynamic map-building techniques show how one method compares on a dataset versus another, but without consistent datasets and high-quality comparison metrics, it is difficult to assess how these various methods compare as a whole and in specific tasks. This article proposes a methodology for creating high-quality criteria with interpretable results for comparing long-term spatio-temporal representations for human-aware path planning and human-aware navigation scheduling. Two criteria derived from the methodology are then applied to compare the representations built by the techniques found in the literature. The approaches are compared on a real-world, long-term dataset, and the conception is validated in a field experiment on a robotic platform deployed in a human-populated environment. Our results indicate that continuous spatio-temporal methods independently modeling spatial and temporal phenomena outperformed other modeling approaches. Our results provide a baseline for future work to compare a wide range of methods employed for long-term navigation and provide researchers with an understanding of how these various methods compare in various scenarios.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Frontiers in Robotics and AI

ISSN

2296-9144

e-ISSN

2296-9144

Svazek periodika

9

Číslo periodika v rámci svazku

July

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

21

Strana od-do

—

Kód UT WoS článku

000828340200001

EID výsledku v databázi Scopus

2-s2.0-85134385031