Enhancing Indoor Robot Pedestrian Detection Using Improved PIXOR Backbone and Gaussian Heatmap Regression in 3D LiDAR Point Clouds
Duy Anh Nguyen,
Khang Nguyen Hoang,
Nguyen Trung Nguyen
et al.
Abstract:Accurate and robust pedestrian detection is fundamental for indoor robotic systems to navigate safely and seamlessly alongside humans in spatially constrained, unpredictable indoor environments. This paper presents a novel method, IRBGHR-PIXOR, a detection framework specifically engineered for pedestrian perception in indoor mobile robots. This novel approach employs an enhanced adaptation of the cutting-edge PIXOR model, integrating two pivotal augmentations: a remodeled convolutional backbone leveraging Inve… Show more
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