Robust Lane Detection Algorithm for Autonomous Trucks in Container Terminal
- Ngo Quang Vinh Sam-Sang You Le Ngoc Bao Long Hwan-Seong Kim
- 한국항해항만학회 학술대회논문집
- 2023 춘계학술대회논문집
- 252 - 253 (2 pages)
Container terminal automation might offer many potential benefits, such as increased productivity, reduced cost, and improved safety. Autonomous trucks can lead to more efficient container transport. A robust lane detection method is proposed using score-based generative modeling through stochastic differential equations for image-to-image translation. Image processing techniques are combined with Density-Based Spatial Clustering of Applications with Noise (DBSCAN) and Genetic Algorithm (GA) to ensure lane positioning robustness. The proposed method is validated by a dataset collected from the port terminals under different environmental conditions and tested the robustness of the lane detection method with stochastic noise.