IndoorBEV: A Lightweight Real-Time LiDAR BEV Perception System for Indoor Mobile Robots
IndoorBEV is a lightweight system for mobile robots to process indoor LiDAR data into a Bird's-Eye View (BEV) representation efficiently. It solves the problem of losing vertical geometric information in standard BEVs by using a height-aware representation and geometry-conditioned feature fusion. This allows for accurate object detection and bounding box prediction while maintaining low latency on embedded hardware.