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Robust and real-time detection and tracking of moving objects with minimum 2d LiDAR information to advance autonomous cargo handling in ports

Author
Vaquero, V.; Repiso, E.; Sanfeliu, A.
Type of activity
Journal article
Journal
Sensors
Date of publication
2018-12-29
Volume
19
Number
1
First page
1
Last page
25
DOI
10.3390/s19010107
Repository
http://hdl.handle.net/2117/133797 Open in new window
URL
https://www.mdpi.com/1424-8220/19/1/107/htm Open in new window
Abstract
Detecting and tracking moving objects (DATMO) is an essential component for autonomous driving and transportation. In this paper, we present a computationally low-cost and robust DATMO system which uses as input only 2D laser rangefinder (LRF) information. Due to its low requirements both in sensor needs and computation, our DATMO algorithm is meant to be used in current Autonomous Guided Vehicles (AGVs) to improve their reliability for the cargo transportation tasks at port terminals, advancing...
Citation
Vaquero, V.; Repiso, E.; Sanfeliu, A. Robust and real-time detection and tracking of moving objects with minimum 2d LiDAR information to advance autonomous cargo handling in ports. "Sensors", 29 Desembre 2018, vol. 19, núm. 1, p. 1-25.
Keywords
Autonomous driving, Autonomous transportation of cargo, DATMO, Multi-hypothesis tracking, Lidar perception, Object detection, Object tracking, Single-layer laser scanner
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants