An embedded real-time 2D LiDAR person tracking pipeline, combining DR-SPAAM, Norfair, and TEB, achieves 85.45% average MOTA on three new datasets and improves collision avoidance on a quadruped robot.
From per- ception to navigation in environments with persons: An indoor evaluation of the state of the art,
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Autonomous Navigation in Dynamic Human Environments with an Embedded 2D LiDAR-based Person Tracker
An embedded real-time 2D LiDAR person tracking pipeline, combining DR-SPAAM, Norfair, and TEB, achieves 85.45% average MOTA on three new datasets and improves collision avoidance on a quadruped robot.