屋外環境下におけるコンテナ自動運搬のためのロボットフォークリフト

抄録

Japanese farmers have steadily decreased and aged in recent years. Hence, an autonomous agricultural robot is expected to overcome these problems. In this paper, a robot forklift is proposed for automated container handling. The robot forklift has GNSS receivers, a high-resolution camera, and a 3D-LiDAR. Our proposed method can detect containers and estimate a distance and horizontal angles between the forklift and its surface by Deep Learning and 3D-LiDAR. Many previous studies have been investigated to detect the objects by image segmentation based on color and geometric characteristics of the target. However, these studies have the predicament that has a weakness to the noise of colors. The experimental results showed that it successfully worked under the real environment.