SAP-CoPE: Social-Aware Planning with Cooperative Pose Estimation
Overview
SAP-CoPE integrates cooperative sensing, human pose estimation, and social-aware planning for indoor robot navigation. Real-world tests show effectiveness in human-populated environments using sparse LiDAR and uncertainty-aware optimization.
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- arXiv Robotics — research abstractsSAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes
This research proposes SAP-CoPE, an indoor navigation framework that integrates cooperative infrastructure sensing, human pose estimation, and a social-aware MPC planner. The framework estimates 3D human poses using uncertainty-aware optimization and sparse LiDAR data, and constructs a personal-space field to generate socially compliant trajectories for autonomous robots. Real-world evaluations demonstrate its effectiveness in navigating human-populated environments.
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