Situational awareness for industrial vehicles is crucial to ensure safety of personnel and
equipment. While human drivers and onboard sensors are able to detect obstacles and
pedestrians within line-of-sight, in complex environments initially occluded or obscured
dynamic objects can unpre dictably enter the path of a vehicle. We propose a safety system
which integrates a vision-based offboard pedestrian tracking subsystem with an onboard
localisation and navigation subsystem. This combination enables warnings to be …