DeepORCA: Realistic crowd simulation for varying scenes

Crowd simulation is a challenging problem, aiming to generate realistic pedestrians motions in virtual environment. Nowadays, ORCA is a widely used simulation algorithm in practice because of its stable and efficient performance. However, this algorithm cannot regenerate continuity and diversity of pedestrian motions in real data, leading to defects in motion fidelity. Otherwise, trajectory prediction methods based on deep learning have progressed in real pedestrians movement patterns mining. However, they are rarely applied in simulation due to the lack of ability to avoid collision and adapt to manufactured scenarios. Our work proposes a simulation method DeepORCA that integrates ORCA with a CVAE-based velocity probability generator, which can model motion continuity, variable intentions, and scene semantics. Moreover, DeepORCA converts the velocity optimization into quadratic programming, which accelerates the calculation while maintaining the collision-avoidance ability of ORCA. In the experiments of real and artificial scenes, our method produces more realistic crowd simulation results than ORCA quantitatively and qualitatively, while keeps the computational efficiency at the same order of magnitude.