Enhancing Indoor Robot Pedestrian Detection Using Improved PIXOR Backbone and Gaussian Heatmap Regression in 3D LiDAR Point Clouds

• Published in: IEEE access Vol. 12; pp. 9162 - 9176
• Main Authors: Nguyen, Duy Anh, Hoang, Khang Nguyen, Nguyen, Nguyen Trung, Tran, Hoang Ngoc
• Format: Journal Article
• Language: English
• Published: Piscataway The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024; IEEE
• Subjects: Accuracy; Algorithms; Gaussian heatmap; Indoor environments; Lidar; pedestrian detection; pedestrian tracking; Perception; Performance evaluation; PIXOR; point cloud; Robot navigation; Robots; Robustness (mathematics); Statistical analysis; Three dimensional models

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 pedes...