TrackSort: Predictive tracking for sorting uncooperative bulk materials

Optical belt sorters are a versatile, state-of-the art technology to sort bulk materials that are hard to sort based on only nonvisual properties. In this paper, we propose an extension to current optical belt sorters that involves replacing the line camera with an area camera to observe a wider field of view, allowing us to observe each particle over multiple time steps. By performing multitarget tracking, we are able to improve the prediction of each particle's movement and thus enhance the performance of the utilized separation mechanism. We show that our approach will allow belt sorters to handle new classes of bulk materials while improving cost efficiency. Furthermore, we lay out additional extensions that are made possible by our new paradigm.