{"paper":{"title":"2D vs. 3D LiDAR-based Person Detection on Mobile Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Alexander Hermans, Bastian Leibe, Dan Jia","submitted_at":"2021-06-21T16:35:49Z","abstract_excerpt":"Person detection is a crucial task for mobile robots navigating in human-populated environments. LiDAR sensors are promising for this task, thanks to their accurate depth measurements and large field of view. Two types of LiDAR sensors exist: the 2D LiDAR sensors, which scan a single plane, and the 3D LiDAR sensors, which scan multiple planes, thus forming a volume. How do they compare for the task of person detection? To answer this, we conduct a series of experiments, using the public, large-scale JackRabbot dataset and the state-of-the-art 2D and 3D LiDAR-based person detectors (DR-SPAAM an"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.11239","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2106.11239/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}