No, but I live in a pretty safe neighborhood.
It may be tough for you, but try to muster up the courage to say "hello" and keep walking. It's a fairly quick interaction that only takes one second and I'm sure nobody wants to have a full conversation. Provide brief responses if they ask questions and then be on your way. If your neighbors are watching/discussing you from their homes, to hell with them. Don't let a**holes prevent you from living/enjoying your life. If they are nervous, that's their problem. If they ask you what you are doing, you're just a guy who lives in the area and is enjoying a walk around the neighborhood.
You may have to interact with neighbors, but these interactions are fairly quick and manageable if you can muster up the courage. Again, do not let other people prevent you from living/enjoying your life.