ROS 2-Based LiDAR Perception Framework for Mobile Robots in Dynamic Production Environments, Utilizing Synthetic Data Generation, Transformation-Equivariant 3D Detection and Multi-Object Tracking

作者：Lukas Bergs, Tan Chung, Marmik Thakkar, Alexander Moriz, Amon Göppert, Chinnawut Nantabut, Robert Schmitt · 单位：Fraunhofer Institute for Production Technology (IPT), Steinbachstr. 17, Aachen 52074, Germany, Robert Schmitt · 会议/期刊：arXiv preprint · 方向：6D位姿 · 发布日期：2026-04-02