LiDAR and UWB Sensor Fusion for Improved Safety in Agricultural Work Sites

Establishing a safe work environment in agricultural sites is a critical challenge due to the dynamic and hazardous nature of the scenario and the presence of large machinery. Effective tracking of workers and other obstacles around the machinery is fundamental for preventing accidents and improving overall safety. This paper presents SIRTRACK, a tracking system that integrates Light Detection and Ranging (LiDAR) and Ultra Wide-Band (UWB) technologies to track workers and obstacles intended to be installed at the farm machinery side. This sensor fusion approach leverages the complementary strengths of both technologies and is herein validated in a laboratory context.