If you're stopping yourself from doing something because you're afraid of being judged, that is a pointless fear.
You are going to be judged whatever you do. (Or don't do.) We all judge. It's within our nature.
The good news about judgement is it doesn't last long. A win or a loss is old news before you know it.
The haters might stick around long enough to see the outcome, but they don't stay. It's not long before they're off, jumping to the next judgement.
A better fear to have is something like the fear of staying stuck in a rut – stuck in the same rut as the haters – that's always a good fear to get action flowing.