Dynamic Crowd Occlusion Inference Algorithm Using Single-Wire LiDAR

Chengfeng Bao; Zhuoheng Xiang; Suilian You; Bo Zhang; Bo Lu; Cui Wang; Yan Li; Shifeng Wang

doi:10.3788/LOP242368

Laser & Optoelectronics Progress, Volume. 62, Issue 16, 1615008(2025)

Dynamic Crowd Occlusion Inference Algorithm Using Single-Wire LiDAR

Chengfeng Bao¹, Zhuoheng Xiang¹, Suilian You¹, Bo Zhang¹, Bo Lu², Cui Wang², Yan Li³, and Shifeng Wang^1,2、*

Author Affiliations

¹School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, Jilin , China

²Zhongshan Institute of Changchun University of Science and Technology, Zhongshan 528400, Guangdong , China

³School of Computing, Macquarie University, Sydney 2109, Australia

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Figures & Tables(8)

Fig. 1. System framework

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Fig. 2. Pedestrian angular grid

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Fig. 3. Simulation environment

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Fig. 4. Real world obstacle avoidance experiment on a wheeled mobile platform in open space

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Fig. 5. Real world obstacle avoidance experiment on wheeled mobile platform corridor

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Fig. 6. The influence of different algorithms based on the same simulation environment on the trajectory of the robot

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Table 1. Navigation results for different algorithms

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Table 1. Navigation results for different algorithms

Algorithm	Success rate	Collision rate	Navigation time /s	Path length /m
1-BN-VAE（supervisor）	0.97	0.03	14.85	13.36
ORCA	0.60	0.40	18.32	6.59
OBS-ORCA	0.44	0.56	13.47	8.06
CADRL	0.59	0.41	10.09	12.99
SF	0.78	0.22	11.86	11.36
2-BN-VAE	0.93	0.07	12.26	11.74

Table 2. Simulation results of different numbers of pedestrians

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Table 2. Simulation results of different numbers of pedestrians

Number of pedestrians	4	6	8	10	12
Success rate	0.94	0.93	0.92	0.91	0.91
Navigation time /s	11.61	12.26	14.55	14.68	15.10
Total reward	18.9857	17.2319	16.5652	16.0514	15.5342
Average path length /m	11.47	11.74	12.79	12.91	13.24
Frequency of being in danger	0.02	0.02	0.01	0.02	0.02
Average min separate in danger /m	0.16	0.16	0.17	0.17	0.17

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Chengfeng Bao, Zhuoheng Xiang, Suilian You, Bo Zhang, Bo Lu, Cui Wang, Yan Li, Shifeng Wang. Dynamic Crowd Occlusion Inference Algorithm Using Single-Wire LiDAR[J]. Laser & Optoelectronics Progress, 2025, 62(16): 1615008

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Paper Information

Category: Machine Vision

Received: Dec. 3, 2024

Accepted: Mar. 18, 2025

Published Online: Aug. 11, 2025

The Author Email: Shifeng Wang (sf.wang@cust.edu.cn)

DOI:10.3788/LOP242368

CSTR:32186.14.LOP242368

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology