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Real-Time 2D LiDAR Object Detection Using Three-Frame RGB Scan Encoding

Roudsari, Soheil Behnam; Brandão, Alexandre S.; Martins, Felipe N. (Sensors And Smart Systems)

Indoor service robots need perception that is robust, more privacy-friendly than RGB video, and feasible on embedded hardware. We present a camera-free 2D LiDAR object detection pipeline that encodes short-term temporal context by stacking three consecutive scans as RGB channels, yielding a compact YOLOv8n …

2026-07-17ICT & Media; …Conferentiebijdrage

Real-Time 2D LiDAR Object Detection Using Three-Frame RGB Scan Encoding [preprint]

Brandão, Alexandre S.; Martins, Felipe N. (Sensors And Smart Systems); Roudsari, Soheil Behnam

2026-02-02ICT & Media; …Workingpaper

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