EgoNav: Egocentric Scene-aware Human Trajectory Prediction
<|reference_start|>EgoNav: Egocentric Scene-aware Human Trajectory Prediction: Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego motion of the wearer. In this work, we leveraged body-mounted cameras and sensors to anticipate the trajectory of human wearers through complex surroundings. To facilitate research in ego-motion prediction, we have collected a comprehensive walking scene navigation dataset centered on the user's perspective. We then present a method to predict human motion conditioning on the surrounding static scene. Our method leverages a diffusion model to produce a distribution of potential future trajectories, taking into account the user's observation of the environment. To that end, we introduce a compact representation to encode the user's visual memory of the surroundings, as well as an efficient sample-generating technique to speed up real-time inference of a diffusion model. We ablate our model and compare it to baselines, and results show that our model outperforms existing methods on key metrics of collision avoidance and trajectory mode coverage.<|reference_end|>
@article{wang2024egonav:,
    title={EgoNav: Egocentric Scene-aware Human Trajectory Prediction},
    author={Weizhuo Wang, C. Karen Liu, and Monroe Kennedy III},
    journal={arXiv preprint arXiv:2403.19026},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.19026},
    primaryClass={cs.CV}
}