@inproceedings{3b3f95253c134b49b4dad0739ac3f1e4,
title = "Integrated robotic vehicle control system for outdoor container handling",
abstract = "We describe an integrated system developed for use onboard a moving work machine.The machine is targeted to such applications as e.g. automatic container handling at loading terminals.The main emphasis is on the various environment perception duties required by autonomous or semi-autonomous operation.These include obstacle detection, container position determination, localization needed for efficient navigation and measurement of docking and grasping locations of containers.Practical ecperience is reported on the use of several different types of technologies for the tasks.For close distance measurement, such as container row following, ultrasonic measurement was used, with associated control software.For obstacle and docking position detection, 3D active vision techniques were developed with structured lighting, utilizing also motion estimation techniques.Depth from defocus - based methods were developed for passive 3D vision.For localization, fusion of data from several sources was carried out.These included dead-reckorning data from odometry, an inertial unit, and several alternative external localization devices, i.e. real-time kinematic GPS, inductive and optical transponders.The system was integrated to run on a real-time operating system platform, using a high-level software specification tool that created the hierachical control structure of the software.Testing of the integrated system included real outdoor task execution on a light tractor.",
keywords = "robotics, robot vision, mobile robotics, navigation, environment perception, localization, 3D vision",
author = "Jouko Viitanen and Janne Haverinen and Pentti Mattila and Hannu M{\"a}kel{\"a} and \{von Numers\}, Thomas and Zbigniew Stanek and Juha R{\"o}ning",
year = "1997",
doi = "10.1117/12.290317",
language = "English",
isbn = "0-8194-2640-7",
series = "Proceedings of SPIE",
publisher = "International Society for Optics and Photonics SPIE",
pages = "456--470",
editor = "Casasent, \{David P.\}",
booktitle = "Intelligent Robots and Computer Vision XVI",
address = "United States",
note = "Intelligent Systems and Advanced Manufacturing ; Conference date: 15-10-1997 Through 17-10-1997",
}