# HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots

arXiv: https://arxiv.org/abs/2503.09010 · HTML: https://mlsanity.com/paper/2503.09010/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Mar 2025.

## Built on by (most cited first, 13 of 13)

- [Is your VLM Sky-Ready? A Comprehensive Spatial Intelligence Benchmark for UAV Navigation](https://mlsanity.com/paper/2511.13269/) (2025)
- [Occupancy World Model for Robots](https://mlsanity.com/paper/2505.05512/) (2025)
- [OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Camera](https://mlsanity.com/paper/2511.03571/) (2025)
- [FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation](https://mlsanity.com/paper/2606.30367/) (2026)
- [Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots](https://mlsanity.com/paper/2507.20217/) (2025)
- [Panoramic Multimodal Semantic Occupancy Prediction for Quadruped Robots](https://mlsanity.com/paper/2603.13108/) (2026)
- [OmniTrack++: Omnidirectional Multi-Object Tracking by Learning Large-FoV Trajectory Feedback](https://mlsanity.com/paper/2511.00510/) (2025)
- [SEF-MAP: Subspace-Decomposed Expert Fusion for Robust Multimodal HD Map Prediction](https://mlsanity.com/paper/2602.21589/) (2026)
- [v-CLR: View-Consistent Learning for Open-World Instance Segmentation](https://mlsanity.com/paper/2504.01383/) (2025)
- [Harnessing Input-Adaptive Inference for Efficient VLN](https://mlsanity.com/paper/2508.09262/) (2025)
- [Weather-Conditioned Branch Routing for Robust LiDAR-Radar 3D Object Detection](https://mlsanity.com/paper/2604.05405/) (2026)
- [Spheriverse: 3D Scene Understanding from Spherical Observations in the Wild](https://mlsanity.com/paper/2609.09012/) (2026)
- [RobotPan: A 360^circ Surround-View Robotic Vision System for Embodied Perception](https://mlsanity.com/paper/2604.13476/) (2026)

## Abstract (arXiv)

The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We present HumanoidPano, a novel hybrid cross-modal perception framework that synergistically integrates panoramic vision and LiDAR sensing to overcome these limitations. Unlike conventional robot perception systems that rely on monocular cameras or standard multi-sensor configurations, our method establishes geometrically-aware modality alignment through a spherical vision transformer, enabling seamless fusion of 360 visual context with LiDAR's precise depth measurements. First, Spherical Geometry-aware Constraints (SGC) leverage panoramic camera ray properties to guide distortion-regularized sampling offsets for geometric alignment. Second, Spatial Deformable Attention (SDA) aggregates hierarchical 3D features via spherical offsets, enabling efficient 360deg-to-BEV fusion with geometrically complete object representations. Third, Panoramic Augmentation (AUG) combines cross-view transformations and semantic alignment to enhance BEV-panoramic feature consistency during data augmentation. Extensive evaluations demonstrate state-of-the-art performance on the 360BEV-Matterport benchmark. Real-world deployment on humanoid platforms validates the system's capability to generate accurate BEV segmentation maps through panoramic-LiDAR co-perception, directly enabling downstream navigation tasks in complex environments. Our work establishes a new paradigm for embodied perception in humanoid robotics.