![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/ann_neurons_t.jpg)
ann_neurons
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/atlasmv_t.jpg)
atlasmv
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/boids1_t.jpg)
boids1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/boids2_t.jpg)
boids2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cca_t.jpg)
cca
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cca_ex1_t.jpg)
cca_ex1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/class_complete_full_t.jpg)
class_complete_full
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/class_complete_reduced1_t.jpg)
class_complete_reduced1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/class_complete_reduced2_t.jpg)
class_complete_reduced2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/class_stripped_full_t.jpg)
class_stripped_full
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/class_stripped_reduced1_t.jpg)
class_stripped_reduced1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/class_stripped_reduced2_t.jpg)
class_stripped_reduced2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/classification_legend_t.jpg)
classification_legend
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/classification_test_legend_t.jpg)
classification_test_legend
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/complete_full_t.jpg)
complete_full
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/complete_reduced1_t.jpg)
complete_reduced1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/complete_reduced2_t.jpg)
complete_reduced2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/configuration_space_robot_t.jpg)
configuration_space_robot
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/corridor_t.jpg)
corridor
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/corridor_map_t.jpg)
corridor_map
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_NO_odnm_t.jpg)
cr_NO_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_all_t.jpg)
cr_all
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_reduce1_t.jpg)
cr_reduce1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_reduce1_NO_odnm_t.jpg)
cr_reduce1_NO_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_reduce2_t.jpg)
cr_reduce2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_reduce2_NO_odnm_t.jpg)
cr_reduce2_NO_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_reduce3_t.jpg)
cr_reduce3
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_reduce3_NO_odnm_t.jpg)
cr_reduce3_NO_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_reduce4_t.jpg)
cr_reduce4
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/cr_with_odnm_t.jpg)
cr_with_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/crop_example_t.jpg)
crop_example
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/crowd_train_station_t.jpg)
crowd_train_station
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/data_acq_example_l_t.jpg)
data_acq_example_l
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/data_acq_example_v_t.jpg)
data_acq_example_v
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/data_acquisition_architecture_t.jpg)
data_acquisition_architecture
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/data_extraction_architecture_t.jpg)
data_extraction_architecture
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/data_labeling_t.jpg)
data_labeling
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/detected_hats_t.jpg)
detected_hats
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/dynamic_window_t.jpg)
dynamic_window
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/enon_t.jpg)
enon
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/error_NO_odnm_t.jpg)
error_NO_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/error_reduce1_t.jpg)
error_reduce1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/error_reduce1_NO_odnm_t.jpg)
error_reduce1_NO_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/error_reduce2_t.jpg)
error_reduce2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/error_reduce2_NO_odnm_t.jpg)
error_reduce2_NO_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/error_reduce3_t.jpg)
error_reduce3
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/error_reduce3_NO_odnm_t.jpg)
error_reduce3_NO_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/error_with_odnm_t.jpg)
error_with_odnm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/ezioman_t.jpg)
ezioman
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/features_all_t.jpg)
features_all
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/features_angle_t.jpg)
features_angle
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/features_distance_t.jpg)
features_distance
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/features_heading_t.jpg)
features_heading
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/features_velocity_t.jpg)
features_velocity
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow1_l_t.jpg)
follow1_l
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow1_v_t.jpg)
follow1_v
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow2_l_t.jpg)
follow2_l
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow2_v_t.jpg)
follow2_v
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow3_l_t.jpg)
follow3_l
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow3_v_t.jpg)
follow3_v
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow4_l_t.jpg)
follow4_l
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow4_v_t.jpg)
follow4_v
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow_leader_t.jpg)
follow_leader
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/follow_path_t.jpg)
follow_path
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/following_positions_t.jpg)
following_positions
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/frp_t.jpg)
frp
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/ghmm_learning_t.jpg)
ghmm_learning
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/ghmm_nodes__t.jpg)
ghmm_nodes_
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/ghmm_traj__t.jpg)
ghmm_traj_
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/ghmm_traj_and_nodes1_t.jpg)
ghmm_traj_and_nodes1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/ghmm_traj_and_nodes2_t.jpg)
ghmm_traj_and_nodes2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp1_t.jpg)
gp1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp2_t.jpg)
gp2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp3_t.jpg)
gp3
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp_input_1_t.jpg)
gp_input_1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp_input_2_t.jpg)
gp_input_2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp_model_1_t.jpg)
gp_model_1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp_model_2_t.jpg)
gp_model_2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp_observations_t.jpg)
gp_observations
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/gp_prediction_edited_t.jpg)
gp_prediction_edited
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/guidecane_t.jpg)
guidecane
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/hmm_t.jpg)
hmm
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/hrvo_left_t.jpg)
hrvo_left
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/hrvo_right_t.jpg)
hrvo_right
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/iepe_t.jpg)
iepe
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/inria_hall_text_t.jpg)
inria_hall_text
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/invite_hand_t.jpg)
invite_hand
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/invite_head_t.jpg)
invite_head
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/kalman_filter_t.jpg)
kalman_filter
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/lane_formation_t.jpg)
lane_formation
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/lane_formation_t.jpg)
lane_formation
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/leader_rules_t.jpg)
leader_rules
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/leader_score_t.jpg)
leader_score
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/markers_at_hall_reduced_t.jpg)
markers_at_hall_reduced
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/methods_workflow_learning_t.jpg)
methods_workflow_learning
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/methods_workflow_reasoning_t.jpg)
methods_workflow_reasoning
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/minerva_t.jpg)
minerva
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/multi_mode_navigation_t.jpg)
multi_mode_navigation
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/narrow_passage_t.jpg)
narrow_passage
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/navitagion_t.jpg)
navitagion
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/neato_t.jpg)
neato
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/nlvo_nlvo_t.jpg)
nlvo_nlvo
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/nlvo_nlvo2_t.jpg)
nlvo_nlvo2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/nlvo_vot_t.jpg)
nlvo_vot
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/office_extrapolation_t.jpg)
office_extrapolation
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/office_typical_paths_t.jpg)
office_typical_paths
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/open_room_t.jpg)
open_room
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/pedestrian_simulator_t.jpg)
pedestrian_simulator
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/performance_complete_full_t.jpg)
performance_complete_full
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/performance_complete_reduced1_t.jpg)
performance_complete_reduced1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/performance_complete_reduced2_t.jpg)
performance_complete_reduced2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/predi1_t.jpg)
predi1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/predi2_t.jpg)
predi2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/rhino_t.jpg)
rhino
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/roadmap_t.jpg)
roadmap
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/robot_right_side_t.jpg)
robot_right_side
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/roomba_t.jpg)
roomba
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/rrt_t.jpg)
rrt
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/rrt1_t.jpg)
rrt1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/rrt2_t.jpg)
rrt2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/rrt3_t.jpg)
rrt3
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/rvo_t.jpg)
rvo
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/setup_log_t.jpg)
setup_log
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/setup_log_diagonal_t.jpg)
setup_log_diagonal
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/setup_schema_t.jpg)
setup_schema
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/sf_ghmm1_t.jpg)
sf_ghmm1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/sf_ghmm2_t.jpg)
sf_ghmm2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/sf_ghmm3_t.jpg)
sf_ghmm3
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/simulations_t.jpg)
simulations
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/stage_sample_t.jpg)
stage_sample
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/toomas_t.jpg)
toomas
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/tpr_robina_t.jpg)
tpr_robina
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/training_t.jpg)
training
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/trajectory_simulator_t.jpg)
trajectory_simulator
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/vo1_t.jpg)
vo1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/weak_learner_t.jpg)
weak_learner
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/wheelchair_prassler1_t.jpg)
wheelchair_prassler1
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/wheelchair_prassler2_t.jpg)
wheelchair_prassler2
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/workspace_t.jpg)
workspace
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/x01_tags_t.jpg)
x01_tags
![](/public/LAR Projects/RobotNavigation/2013_ProcopioStein/docs/phd/figures/x02_tags_t.jpg)
x02_tags