Low Cost, Robust and Real Time System for Detecting and Tracking Moving Objects to Automate Cargo Handling in Port Terminals

Autor: Maurice Kwakkernaat, Alberto Sanfeliu, Ely Repiso, Victor Vaquero, John Vissers
Přispěvatelé: Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents, Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents, European Commission, Ministerio de Economía y Competitividad (España), Comisión Interministerial de Ciencia y Tecnología, CICYT (España)
Rok vydání: 2015
Předmět:
Truck
0209 industrial biotechnology
IVS - Integrated Vehicle Safety
Object detection
Computer science
autonomous transportation of cargo
Real-time computing
Feature extraction
0211 other engineering and technologies
02 engineering and technology
Object tracking
Tracking (particle physics)
020901 industrial engineering & automation
autonomous driving
mobile robots
Multi-hypothesis tracking
11. Sustainability
Traffic
Real-time operating system
object tracking
Simulation
Mobility
TS - Technical Sciences
021103 operations research
feature extraction
Automation::Robots::Mobile robots [Classificació INSPEC]
object detection
Mobile robot
Autonomous transportation of cargo
Port (computer networking)
multi-hypothesis tracking
Fluid & Solid Mechanics
Video tracking
Autonomous driving
DATMO
Informàtica::Robòtica [Àrees temàtiques de la UPC]
Zdroj: Advances in Intelligent Systems and Computing ISBN: 9783319271484
ROBOT (2)
Recercat. Dipósit de la Recerca de Catalunya
instname
UPCommons. Portal del coneixement obert de la UPC
Universitat Politècnica de Catalunya (UPC)
Digital.CSIC. Repositorio Institucional del CSIC
Reis L.P.Lima P.U.Moreira A.P.Munoz-Martinez V.Montano L., 2nd Iberian Robotics Conference, ROBOT 2015, 19 November 2015 through 21 November 2015, 418, 491-502
DOI: 10.1007/978-3-319-27149-1_38
Popis: Trabajo presentado a la 2nd Iberian Robotics Conference (ROBOT-2015).
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.
This work has been partially funded by the EU project CargoANTs FP7-SST-2013-605598 and the Spanish CICYT project DPI2013-42458-P.
Databáze: OpenAIRE
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