Domain and Modality Gaps for LiDAR-based Person Detection on Mobile Robots

06/21/2021
by   Dan Jia, et al.
0

Person detection is a crucial task for mobile robots navigating in human-populated environments and LiDAR sensors are promising for this task, given their accurate depth measurements and large field of view. This paper studies existing LiDAR-based person detectors with a particular focus on mobile robot scenarios (e.g. service robot or social robot), where persons are observed more frequently and in much closer ranges, compared to the driving scenarios. We conduct a series of experiments, using the recently released JackRabbot dataset and the state-of-the-art detectors based on 3D or 2D LiDAR sensors (CenterPoint and DR-SPAAM respectively). These experiments revolve around the domain gap between driving and mobile robot scenarios, as well as the modality gap between 3D and 2D LiDAR sensors. For the domain gap, we aim to understand if detectors pretrained on driving datasets can achieve good performance on the mobile robot scenarios, for which there are currently no trained models readily available. For the modality gap, we compare detectors that use 3D or 2D LiDAR, from various aspects, including performance, runtime, localization accuracy, robustness to range and crowdedness. The results from our experiments provide practical insights into LiDAR-based person detection and facilitate informed decisions for relevant mobile robot designs and applications.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 8

01/12/2018

Multisensor Online Transfer Learning for 3D LiDAR-based Human Detection with a Mobile Robot

Human detection and tracking is an essential task for service robots, wh...
01/12/2018

Multisensor Online Transfer Learning for 3D LiDAR-based Human Classification with a Mobile Robot

Human detection and tracking is an essential task for service robots, wh...
08/03/2021

Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study

Advances in sensing and learning algorithms have led to increasingly mat...
12/16/2020

Self-Supervised Person Detection in 2D Range Data using a Calibrated Camera

Deep learning is the essential building block of state-of-the-art person...
06/15/2021

Temporal Consistency Checks to Detect LiDAR Spoofing Attacks on Autonomous Vehicle Perception

LiDAR sensors are used widely in Autonomous Vehicles for better perceivi...
07/03/2021

Person-MinkUNet: 3D Person Detection with LiDAR Point Cloud

In this preliminary work we attempt to apply submanifold sparse convolut...
03/13/2019

LiDAR-assisted Large-scale Privacy Protection in Street-view Cycloramas

Recently, privacy has a growing importance in several domains, especiall...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.