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ITP: Inverse Trajectory Planning for Human Pose Prediction
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Datum
2020
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Springer
Zusammenfassung
Tracking and predicting humans in three dimensional space in order to know the location and heading of the human in the environment is a difficult task. Though if solved it will allow a robotic agent to know where it can safely be and navigate the environment without imposing any danger to the human that it is interacting with. We propose a novel probabilistic framework for robotic systems in which multiple models can be fused into a circular probabilitymap to forecast human poses. We developed and implemented the framework and tested it on Toyota’s HSR robot and Waymo Open Dataset. Our experiments show promising results.