University of Oulu

Z. Yin et al., "Toward City-Scale Litter Monitoring Using Autonomous Ground Vehicles," in IEEE Pervasive Computing, vol. 21, no. 3, pp. 74-83, 1 July-Sept. 2022, doi: 10.1109/MPRV.2022.3152926

Toward city-scale litter monitoring using autonomous ground vehicles

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Author: Yin, Zhigang1; Olapad, Mayowa1; Liyanage, Mohan1;
Organizations: 1University of Tartu, 50090 Tartu, Estonia
2University of Helsinki, 00100 Helsinki, Finland
3Norwegian University of Science and Technology, 7491 Trondheim, Norway
4University of Oulu, 90570 Oulu, Finland
5The Hong Kong University of Science and Technology, Hong Kong
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 1.8 MB)
Persistent link:
Language: English
Published: Institute of Electrical and Electronics Engineers, 2022
Publish Date: 2022-10-06


Littering is a significant challenge for environmental sustainability and a major burden for cities and densely populated areas. Current solutions for litter monitoring, such as litter watch campaigns and city-operated litter collection, are costly and challenging to conduct at a large scale. This article presents a vision for using autonomous ground vehicles (AGVs) for litter monitoring and removal and introduces a mechanism for AGVs that uses thermal dissipation resulting from sunlight to identify and remove litter objects. We identify and highlight key challenges for deploying the envisioned solution on a city scale, and demonstrate the feasibility of the solution through extensive experiments.

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Series: IEEE pervasive computing
ISSN: 1536-1268
ISSN-E: 1558-2590
ISSN-L: 1536-1268
Volume: 21
Issue: 3
Pages: 74 - 83
DOI: 10.1109/mprv.2022.3152926
Type of Publication: A1 Journal article – refereed
Field of Science: 213 Electronic, automation and communications engineering, electronics
Funding: This work was supported by the European Social Fund via the IT Academy Programme and the Academy of Finland Project 339614.
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