Blind Travel Prediction Based on Obstacle Avoidance in Indoor Scene

Table 1

RMSE comparison results.

Position number	Markov	LSTM	D-Conv	STF-RNN	Social-LSTM	Social attention	DSCMP	BlindTPM
1	0.67	3.92	3.32	1.98	1.86	1.42	1.43	1.21
2	2.45	6.32	4.10	2.75	2.76	2.43	2.34	2.01
3	4.87	7.63	5.87	4.86	4.09	3.21	3.23	2.91
4	6.29	8.34	6.55	5.99	5.34	4.79	4.87	4.32
5	8.02	7.91	7.89	6.48	6.02	5.88	5.98	5.23