A mobile robot having a Light Detection and Ranging (LIDAR) sensor, a camera sensor having a field of view, and a propulsion system for propelling the mobile robot in an environment, a processor being communicatively coupled with the LIDAR sensor, the camera sensor, and the propulsion system, the processor being configured to: access a 3D map representation of the environment including a respective indication of a crosswalk, a waiting area for the crosswalk, and a visual traffic indicator for the crosswalk, the 3D map representation indicative of a position of the visual traffic indicator and its orientation relative to the waiting area; detect an object located in the waiting area by using at least one of camera data from the camera sensor and LIDAR data from the LIDAR sensor, thereby generating a bounding box of the object; map a position of the bounding box to the 3D map representation; characterized in that the processor is further configured to: determine a visual occlusion zone of the object in the waiting area using the position of the bounding box and the orientation of the visual traffic indicator relative to the waiting area, the visual occlusion zone being an estimated portion of the waiting area in which the visual traffic indicator is occluded from the field of view of the camera sensor by the object if the mobile robot is located in the estimated portion; determine a reduced waiting area as a difference between the waiting area and the visual occlusion area, the visual traffic indicator being visible in the field of view of the camera sensor if the mobile robot is located in the reduced waiting area; and trigger control of the propulsion system for moving the mobile robot to the reduced waiting area. access a 3D map representation of the environment including a respective indication of a crosswalk, a waiting area for the crosswalk, and a visual traffic indicator for the crosswalk, the 3D map representation indicative of a position of the visual traffic indicator and its orientation relative to the waiting area; detect an object located in the waiting area by using at least one of camera data from the camera sensor and LIDAR data from the LIDAR sensor, thereby generating a bounding box of the object; map a position of the bounding box to the 3D map representation; characterized in that the processor is further configured to: determine a visual occlusion zone of the object in the waiting area using the position of the bounding box and the orientation of the visual traffic indicator relative to the waiting area, the visual occlusion zone being an estimated portion of the waiting area in which the visual traffic indicator is occluded from the field of view of the camera sensor by the object if the mobile robot is located in the estimated portion; determine a reduced waiting area as a difference between the waiting area and the visual occlusion area, the visual traffic indicator being visible in the field of view of the camera sensor if the mobile robot is located in the reduced waiting area; and trigger control of the propulsion system for moving the mobile robot to the reduced waiting area. determine a visual occlusion zone of the object in the waiting area using the position of the bounding box and the orientation of the visual traffic indicator relative to the waiting area, the visual occlusion zone being an estimated portion of the waiting area in which the visual traffic indicator is occluded from the field of view of the camera sensor by the object if the mobile robot is located in the estimated portion; determine a reduced waiting area as a difference between the waiting area and the visual occlusion area, the visual traffic indicator being visible in the field of view of the camera sensor if the mobile robot is located in the reduced waiting area; and trigger control of the propulsion system for moving the mobile robot to the reduced waiting area.