Publication
Low cost, robust and real time system for detecting and tracking moving objects to automate cargo handling in port terminals
Conference Article
Conference
Iberian Robotics Conference (ROBOT)
Edition
2nd
Pages
491–502
Doc link
http://dx.doi.org/10.1007/978-3-319-27149-1_38
File
Authors
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Vaquero Gomez, Victor
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Repiso Polo, Ely
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Sanfeliu Cortés, Alberto
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Vissers, John
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Kwakkernaat, Maurice
Projects associated
Abstract
The presented paper addresses the problem of detecting and tracking moving objects for autonomous cargo handling in port terminals using a perception system which input data is a single layer laser scanner. A computationally low cost and robust Detection and Tracking Moving Objects (DATMO) algorithm is presented to be used in autonomous guided vehicles and autonomous trucks for efficient transportation of cargo in ports. The method first detects moving objects and then tracks them, taking into account that in port terminals the structure of the environment is formed by containers and that the moving objects can be trucks, AGV, cars, straddle carriers and people among others. Two approaches of the DATMO system have been tested, the first one is oriented to detect moving obstacles and focused on tracking and filtering those detections; and the second one is focused on keepking targets when no detections are provided. The system has been evaluated with real data obtained in the CTT port terminal in Hengelo, the Netherlands. Both methods have been tested in the dataset with good results in tracking moving objects.
Categories
feature extraction, mobile robots, object detection.
Author keywords
object detection, object tracking, DATMO, multi-hypothesis tracking, autonomous driving, autonomous transportation of cargo
Scientific reference
V. Vaquero, E. Repiso, A. Sanfeliu, J. Vissers and M. Kwakkernaat. Low cost, robust and real time system for detecting and tracking moving objects to automate cargo handling in port terminals, 2nd Iberian Robotics Conference, 2015, Lisbon, in Robot 2015: Second Iberian Robotics Conference, Vol 418 of Advances in Intelligent Systems and Computing, pp. 491–502, 2015, Springer.
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