LiDAR Based Semantic Perception for Forklifts in Outdoor Environments

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.

@article{serfling2025_2505.22258,
  title={ LiDAR Based Semantic Perception for Forklifts in Outdoor Environments },
  author={ Benjamin Serfling and Hannes Reichert and Lorenzo Bayerlein and Konrad Doll and Kati Radkhah-Lens },
  journal={arXiv preprint arXiv:2505.22258},
  year={ 2025 }
}