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Human-Aware Target Tracking and Navigation: Fusing Kinematic State Estimation with Structural Map Constraints

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Autonomous mobile robots performing person-following tasks often suffer from temporary occlusions and sensor track loss in dynamic environments. This research presents an end-to-end autonomous navigation stack that addresses target occlusion through map-informed spatial reasoning. The proposed system features a multi-modal perception pipeline, fusing deep learning-based visual tracking with 2-dimensional LiDAR point clustering to maintain high-fidelity tracking of a tagged person. A continuous state estimator integrates this perception data with wheel odometry and IMU sensors for stable locali

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