[Submitted on 30 Sep 2026]
Title:IndoorBEV: A Lightweight Real-Time LiDAR BEV Perception System for Indoor Mobile Robots
View a PDF of the paper titled IndoorBEV: A Lightweight Real-Time LiDAR BEV Perception System for Indoor Mobile Robots, by Haichuan Li
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Abstract:Efficient indoor LiDAR perception is challenging because mobile robots must understand cluttered three-dimensional environments under strict latency and memory constraints. Existing point-based and voxel-based methods often incur substantial computational overhead, whereas conventional bird's-eye-view (BEV) representations improve efficiency at the cost of discarding vertical geometric information. We present IndoorBEV, a lightweight LiDAR perception framework that mitigates this tradeoff through a height-aware BEV representation and geometry-conditioned feature fusion. IndoorBEV summarizes the vertical point distribution in each BEV cell using statistical height features and multi-frequency height encoding, allowing informative three-dimensional cues to be processed efficiently by two-dimensional convolutions. A lightweight encoder then integrates complementary geometric features with multi-scale local representations and compact global scene context. Decoupled dense prediction heads jointly produce semantic BEV maps and oriented object bounding boxes. IndoorBEV contains only 0.6M parameters and requires 2.3 MB of model storage. On an NVIDIA AGX Orin, it uses 21.52 MB of GPU memory per inference and achieves a mean latency of 169.6 ms under a 200 ms perception deadline, with a deadline miss ratio of 1.8\%. Evaluations on simulated scenes, real-world robot scans, and an open-source indoor point-cloud dataset demonstrate a favorable tradeoff among perception accuracy, latency, and memory consumption. These results indicate that explicitly encoding vertical geometry within a compact BEV representation provides an effective approach to resource-efficient indoor LiDAR perception.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2610.00355 [cs.RO]
(or arXiv:2610.00355v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.00355
arXiv-issued DOI via DataCite
Submission history
From: Haichuan Li [view email] [v1] Wed, 30 Sep 2026 00:37:20 UTC (14,629 KB)
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