The answer no one will want to hear: give up worrying about what others think of you or your actions while taking a photograph. Unless you're being furtive, or creepy, they aren't thinking about you at all.
They're doing the same as you - worrying about what others are thinking about them. Once you get that, you relax your body language, start to look like a working photographer, and if people watching you think anything, it may be to wish they had your job!
As children, we are the center of our own Universe. As we grow, the issue slowly begins to be, how can we be useful, even helpful. If you're prepared to show the curious what you're doing, to answer questions about photography, you may experience the opposite of shyness, and begin finding more reasons to go outside and take as many photos as possible!
As with public speaking, or any performing, practice can turn fear into acceptance, confidence, maybe even joy, eventually. Any craft responds to repetition, and if you need to begin alone and in private, fine. Do that: it will call on great creativity to get good images from around your living space. When you're ready (you'll know), go out to places you know. Then with time and experience, you may venture to those places and situations that seemed frightening before.
No need to worry about what others may be thinking: they're too busy with their own worries.
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Proud user of a Fuji FP S3100, Nikon P90, a Canon T3i, and persistence.
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