Cost based estimation of intended locomotion targets using human locomotion models

This paper presents a novel approach to estimate a person's intended locomotion target. This estimation is based on models of human locomotion and the finding that locomotion is planned such that the movement minimizes a certain cost function. Using such a cost function, we calculate the expected costs for a path trajectory to a number of possible targets, and make an estimation of a person's intended target based on changes in these expected costs in relation to the cost of the path up to this point.