Yuriy S. Sarkisov

ReForesight: Occlusion-Robust Re-Identification and Future Occupancy Forecasting for Dynamic Semantic Mapping

Robots sharing walkways need to know where people will be, yet semantic occupancy maps show only where they are. We present ReForesight, an open-source ROS 2 toolkit that adds instance-level future occupancy and re-identification after occlusion to a particle-based semantic mapping pipeline. A 36.6k-parameter MLP predi...