人をセンサーとして活用：人間の行動から地図を推定する
People as Sensors: Imputing Maps from Human Actions
人間ドライバーと歩行者の相互作用を利用し、他のエージェントの行動から遮蔽された地図領域を推定するマッピング手法を提案。実世界データで従来手法を上回る環境認識性能を示した。
著者: Oladapo Afolabi, Katherine Driggs-Campbell, Roy Dong, Mykel J. Kochenderfer, S. Shankar Sastry
分類: cs.RO
原文アブストラクト
Despite growing attention in autonomy, there are still many open problems, including how autonomous vehicles will interact and communicate with other agents, such as human drivers and pedestrians. Unlike most approaches that focus on pedestrian detection and planning for collision avoidance, this paper considers modeling the interaction between human drivers and pedestrians and how it might influence map estimation, as a proxy for detection. We take a mapping inspired approach and incorporate people as sensors into mapping frameworks. By taking advantage of other agents' actions, we demonstrate how we can impute portions of the map that would otherwise be occluded. We evaluate our framework in human driving experiments and on real-world data, using occupancy grids and landmark-based mapping approaches. Our approach significantly improves overall environment awareness and out-performs standard mapping techniques.
