Perception Engine enables deployment of service robots at scale as it offers effective and safe navigation in environments not possible before at a competitive cost of the robotic solution. Service robots need to navigate and behave intelligently around humans, in hospitals, hotels, restaurants, offices, airports and other public spaces. Perception Engine can be easily integrated into the service robot, quickly and intuitively learn the space that it needs to operate in and enable sophisticated and flexible maneuvers that are natural and safe even in crowded, public environments.