a predictive collision avoidance model for pedestrian simulation author: ioannis karamouzas et al....
TRANSCRIPT
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A predictive Collision Avoidance Model for Pedestrian Simulation
Author: Ioannis Karamouzas et al.
Presented by: Jessica Siewert
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Content of presentation
• Previous work• The method• Implementation• Experiments• Assessment• Developments since
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Introduction – Previous work
• Dynamic potential-field approach (too general)
• Corridor-Map-Method• Helbing Social Force Fields• Example-based (too expensive)
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Introduction – Now we want…
• Anticipation and prediction (so in advance)• Deal with large and cluttered environments• No constant change of orientation, pushing
each other and moving back/forth
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Introduction – We got…
• Reynolds unaligned collision avoidance• => Feurtey predicts potential collisions within
time and resolves by adapting speed and trajectory
• => Paris et al. Anticipative model to steer• Shao and Terzopoulos: Reactive routines to
determine avoidance maneuvers.
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• Van den Berg Reciprocal Velocity Obstacle• Pettré et al. Egocentric model for local
collision avoidance
Introduction – We got…
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Introduction – Our method…
• Based on force field approach• Early avoidance hypothesis,
anticipation/prediction• Energy-efficient motions– Less curved paths– Smooth natural flow– Oscillation-free
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Introduction – Contributions…
• Force field method based (Shao, Berg, Pettré don’t)
• Easier in formulation and implementation• Faster, able to handle thousands• Calculated differently producing better looking
results (visually pleasing, smoothly avoiding)
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The method – Overview
• Pedestrian Interactions• => Pedestrian Simulation Model• Collision Avoidance
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The method – Pedestrian Interactions
• Scanning and Externalization• Personal Space• Principle of Least Effort
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The method – Pedestrian Sim. Model
• Modeled as little cylinders with radius r• The pedestrian tries to reach its goal• The goal is pulling the pedestrian towards
itself with a goal force
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• The pedestrian wants to move at a certain speed
• It reaches this spreed gradually over time
The method – Pedestrian Sim. Model
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• All the walls act on the pedestrian repulsively• Diw shortest distance between P and wall• Ds safe discance P likes from the wall
The method – Pedestrian Sim. Model
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• A pedestrian keeps a distance from others to feel comfortable (“Personal space”)
• Modeled as a disc with radius p>r (is varied)
The method – Pedestrian Sim. Model
http://www.mysocalledsensorylife.com/?p=2021
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• The collision occurs when another pedestrian Pj comes in the personal space of Pi at time tc
The method – Pedestrian Sim. Model
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• A pedestrian has an anticipation time (can vary)
• Collisions within this time are actively avoided• To simulate this an evasive Force is applied
The method – Pedestrian Sim. Model
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Collision avoidance
• Collision prediction
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Collision avoidance
• Selecting pedestrians– Sorted on increasing collision time– Keep the first 2 to 5
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• Avoidance maneuvers
Collision avoidance
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• Computing the evasive Force– Weighted sum of N forces– OR– Iterative approach!
Collision avoidance
Agile101.net
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Implementation
• Efficient Collision Prediction– Anticipation time– Iterative approach– Vary p, r, v and t– Maximum distance
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Implementation
• Adding variation– Noise Force
• Time integration– Simulation time steps– Sum of forces– Orientation
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Experiments – Claim recall
• Anticipation/prediction based• Easier in formulation and implementation• Faster, able to handle thousands• Energy-efficient motions– Less curved paths– Smooth natural flow– Oscillation-free– Visually pleasing/natural looking
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Movies…
• file:///C:/Users/Jessica/Downloads/Circle.avi• file:///C:/Users/Jessica/Downloads/Scene0.avi• file:///C:/Users/Jessica/Downloads/Scene1.avi• file:///C:/Users/Jessica/Downloads/Scene2.avi• file:///C:/Users/Jessica/Downloads/Scene3.avi• file:///C:/Users/Jessica/Downloads/park.avi• file:///C:/Users/Jessica/Downloads/crosswalks
.avi
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Assessment – promises
• Scanning and externalization?• Natural looking?• Easy implementation: extendability?
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Assessment – method
• Reasoning that leads to smart pedestrian selection
• Reasoning that leads to iterative approach• How would this method combine with
obstacle avoidance methods?
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Assessment – experiments
• 25% of CPU usage?• What about the high-cluttered environments?• How is the time step chosen?
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Assessment – results
• Swirl effect• Up front anticipation results in no interaction• No ellipse-shaped personal space needed?
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Assessment – shortcomings
• No couples or coherent groups• No cultural, cognitive or psychological factors• Nothing like the reciprocal method
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Developments since then
• Path Planning for Groups Using Column Generation (Marjan van den Akker, Roland Geraerts e.a.)
• http://gamma.cs.unc.edu/PLE/pubs/PLE.pdf• http://d.wanfangdata.com.cn/periodical_zggd
xxxswz-jsjkx201003011.aspx• http://people.cs.uu.nl/ioannis/publications.ht
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