We present a real-time algorithm, SocioSense, for socially-aware navigation of a robot amongst pedestrians. Our approach computes time-varying behaviors of each pedestrian using Bayesian learning and Personality Trait theory. These psychological characteristics are used for long-term path prediction and generating proximic characteristics for each pedestrian. We combine these psychological constraints with social constraints to perform human-aware robot navigation in low-to mediumdensity crowds. The estimation of time-varying behaviors and pedestrian personalities can improve the performance of longterm path prediction by 21%, as compared to prior interactive path prediction algorithms. We also demonstrate the benefits of our socially-aware navigation in simulated environments with tens of pedestrians.
We present a novel classifier network called STEP, to classify perceived human emotion from gaits, based on a Spatial Temporal Graph Convolutional Network (ST-GCN) architecture. Given an RGB video of an individual walking, our formulation implicitly exploits the gait features to classify the perceived emotion of the human into one of four emotions: happy, sad, angry, or neutral. We train STEP on annotated real-world gait videos, augmented with annotated synthetic gaits generated using a novel generative network called STEP-Gen, built on an ST-GCN based Conditional Variational Autoencoder (CVAE). We incorporate a novel push-pull regularization loss in the CVAE formulation of STEP-Gen to generate realistic gaits and improve the classification accuracy of STEP. We also release a novel dataset (E-Gait), which consists of 4,227 human gaits annotated with perceived emotions along with thousands of synthetic gaits. In practice, STEP can learn the affective features and exhibits classification accuracy of 88% on E-Gait, which is 14–30% more accurate over prior methods.
We present a real-time algorithm to automatically classify the dynamic behavior or personality of a pedestrian based on his or her movements in a crowd video. Our classification criterion is based on Personality Trait Theory. We present a statistical scheme that dynamically learns the behavior of every pedestrian in a scene and computes that pedestrian's motion model. This model is combined with global crowd characteristics to compute the movement patterns and motion dynamics, which can also be used to predict the crowd movement and behavior. We highlight its performance in identifying the personalities of different pedestrians in lowand high-density crowd videos. We also evaluate the accuracy by comparing the results with a user study.
We present a novel, real-time algorithm, EVA, for generating virtual agents with various perceived emotions. Our approach is based on using Expressive Features of gaze and gait to convey emotions corresponding to happy, sad, angry, or neutral. We precompute a data-driven mapping between gaits and their perceived emotions. EVA uses this gait emotion association at runtime to generate appropriate walking styles in terms of gaits and gaze. Using the EVA algorithm, we can simulate gaits and gazing behaviors of hundreds of virtual agents in real-time with known emotional characteristics. We have evaluated the benefits in different multi-agent VR simulation environments. Our studies suggest that the use of expressive features corresponding to gait and gaze can considerably increase the sense of presence in scenarios with multiple virtual agents.
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