A computer-implemented method for target object position prediction includes receiving, via an RGB camera a plurality of images depicting one or more persons positioned on a floor. A plurality of person location labels is assigned to each image indicating where the one or more persons are located relative to the floor. A foot position (FP) classifier is trained to classify the images into the person location labels, wherein the FP classifier is configured according to a multi-layer architecture and the training results in determination of a plurality of weights for connecting layers in the multi-layer architecture. A deployment of the FP classifier is created based on the multi-layer architecture, the plurality of weights, and the plurality of person location labels.