People as Sensors: Imputing Maps from Human Actions

Oladapo Afolabi, Katherine Driggs-Campbell, Roy Dong, Mykel J. Kochenderfer, S. Shankar Sastry

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 outperforms standard mapping techniques.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2342-2348
Number of pages7
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Externally publishedYes
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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