TABLE OF CONTENTS [TAP TO EXPAND]
- 01 High-Density Industrial Warehousing and Logistics
- 02 Loss of Object Permanence Across Blind Spots
- 03 Limitations of 2D Bounding Box Trackers
- 04 Volumetric Predictive Mesh and Multi-View Fusion
- 05 Component Pipeline
- 06 Continuous Trajectory Reconstruction
- 07 Physical Test Facility
- 08 Demonstrated Results
- 09 Occlusion Duration Limits
- 10 Acoustic and Radar Fusion
High-Density Industrial Warehousing and Logistics
Automated storage and retrieval systems (ASRS) and autonomous mobile robots (AMRs) operate in physical facilities crowded with moving forklifts, temporary pallet stacks, and steel structural pillars. Maintaining continuous spatial awareness of moving entities is critical for safety-rated obstacle avoidance.
Loss of Object Permanence Across Blind Spots
When an obstacle briefly occludes an optical sensor baseline, naive vision models treat the disappeared object as deleted from physical space, then re-detect it as an entirely new entity, flipping tracking IDs randomly.
Limitations of 2D Bounding Box Trackers
2D SORT-style tracking algorithms rely on bounding box overlap in image space. In 3D industrial environments with complex perspective distortions, 2D IoU metrics collapse during complete visual occlusions.
Volumetric Predictive Mesh and Multi-View Fusion
HIRAX investigated SYNAPSE Spatial Mesh—a continuous 3D occupancy grid fused across ceiling cameras and robot-mounted sensors that maintains object permanence through physical volumetric predictive filters.
Component Pipeline
Unifies disparate 2D camera feeds into a single continuous voxel coordinate frame with a physics-constrained Kalman filter projecting estimated bounding volumes through occlusions.
Continuous Trajectory Reconstruction
When an AMR drives behind a concrete column, the volumetric mesh maintains the robot's 3D occupancy bounding box. When it re-emerges on an adjacent camera angle, the system correlates the predicted spatial state, preserving entity ID continuity.
Physical Test Facility
Validated across a warehouse test harness with 12 ceiling-mounted edge nodes and moving occlusion panels.
Demonstrated Results
Demonstrated unbroken 3D entity tracking across visual occlusion durations up to 4.5 seconds with zero identity switching.
Occlusion Duration Limits
If an object stops or changes direction abruptly while hidden behind an occlusion, predictive error bounds expand proportionally with time.
Acoustic and Radar Fusion
Exploring millimeter-wave radar and directional acoustic sensors for zero-light occlusion recovery.