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

Abstract

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.

On-line adaptive side-by-side human robot companion in dynamic urban environments

“…This horizon time allows the robot to predict the next movements of people and it is able to anticipate their navigation behaviours. Works on people tracking are numerous, we follow the approach of Vaquero et al [17].…”

Low Resolution Lidar-Based Multi-Object Tracking for Driving Applications

“…Classic approaches for object detection in lidar point clouds use clustering algorithms to segment the data, assigning the resulting groups to different classes [2,27,6,18]. Other strategies, such as the one used as baseline method in this paper, benefit from prior knowledge of the environment structure to ease the object segmentation and clustering [20,24].…”

Object classification integrating results of each scan line with low‐resolution LIDAR

“…The research on object detection using LIDAR having one or a few scan lines, which was mainly called the laser scanner or laser range scanner, has been reported for a long time . Also, the method of detection and tracking of moving objects have been called DATMO . These studies cover relatively simple situations such as indoor pedestrian detection or obstacle detection in port terminal, etc.…”