Efficient human 3D localization and free space segmentation for human-aware mobile robots in warehouse facilities
Dimitrios Arapis,
Milad Jami,
Lazaros Nalpantidis
Abstract:Real-time prediction of human location combined with the capability to perceive obstacles is crucial for socially-aware navigation in robotics. Our work focuses on localizing humans in the world and predicting the free space around them by incorporating other static and dynamic obstacles. We propose a multi-task learning strategy to handle both tasks, achieving this goal with minimal computational demands. We use a dataset captured in a typical warehouse environment by mounting a perception module consisting o… Show more
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