# LiDAR Based Semantic Perception for Forklifts in Outdoor Environments

arXiv: https://arxiv.org/abs/2505.22258 · HTML: https://mlsanity.com/paper/2505.22258/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 32 references that are in the map.
- First posted on arXiv 28 May 2025.

## Builds on (most cited first, 26 of 26)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [ShuffleNet: An Extremely Efficient Convolutional Neural Network for Mobile Devices](https://mlsanity.com/paper/1707.01083/) (2017)
- [EfficientNetV2: Smaller Models and Faster Training](https://mlsanity.com/paper/2104.00298/) (2021)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking](https://mlsanity.com/paper/2109.03805/) (2021)
- [KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way](https://mlsanity.com/paper/2209.15397/) (2022)
- [Rethinking Range View Representation for LiDAR Segmentation](https://mlsanity.com/paper/2303.05367/) (2023)
- [Spherical Transformer for LiDAR-based 3D Recognition](https://mlsanity.com/paper/2303.12766/) (2023)
- [SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances](https://mlsanity.com/paper/2002.09147/) (2020)
- [RangeViT: Towards Vision Transformers for 3D Semantic Segmentation in Autonomous Driving](https://mlsanity.com/paper/2301.10222/) (2023)
- [3D-MiniNet: Learning a 2D Representation from Point Clouds for Fast and Efficient 3D LIDAR Semantic Segmentation](https://mlsanity.com/paper/2002.10893/) (2020)
- [CENet: Toward Concise and Efficient LiDAR Semantic Segmentation for Autonomous Driving](https://mlsanity.com/paper/2207.12691/) (2022)
- [FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation](https://mlsanity.com/paper/2312.04484/) (2023)
- [FIDNet: LiDAR Point Cloud Semantic Segmentation with Fully Interpolation Decoding](https://mlsanity.com/paper/2109.03787/) (2021)
- [SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds](https://mlsanity.com/paper/2407.11569/) (2024)
- [Excavating in the Wild: The GOOSE-Ex Dataset for Semantic Segmentation](https://mlsanity.com/paper/2409.18788/) (2024)
- [LiDARNet: A Boundary-Aware Domain Adaptation Model for Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2003.01174/) (2020)
- [Height Change Feature Based Free Space Detection](https://mlsanity.com/paper/2308.00971/) (2023)
- [Sensor Equivariance by LiDAR Projection Images](https://mlsanity.com/paper/2305.00221/) (2023)
- [Real Time Semantic Segmentation of High Resolution Automotive LiDAR Scans](https://mlsanity.com/paper/2504.21602/) (2025)

## Built on by (most cited first, 1 of 1)

- [RePL: Pseudo-label Refinement for Semi-supervised LiDAR Semantic Segmentation](https://mlsanity.com/paper/2604.06825/) (2026)

## Abstract (arXiv)

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines forward-facing and downward-angled LiDAR sensors to enable comprehensive scene understanding, specifically tailored for industrial material handling tasks. The dual configuration improves the detection and segmentation of dynamic and static obstacles with high spatial precision. Using high-resolution 3D point clouds captured from two sensors, our method employs a lightweight yet robust approach that segments the point clouds into safety-critical instance classes such as pedestrians, vehicles, and forklifts, as well as environmental classes such as driveable ground, lanes, and buildings. Experimental validation demonstrates that our approach achieves high segmentation accuracy while satisfying strict runtime requirements, establishing its viability for safety-aware, fully autonomous forklift navigation in dynamic warehouse and yard environments.