Title :
Towards AGV safety and navigation advancement obstacle detection using a TOF range camera
Author :
Bostelman, R.V. ; Hong, T.H. ; Madhavan, R.
Author_Institution :
National Inst. of Stand. & Technol.
Abstract :
The performance evaluation of an obstacle detection and segmentation algorithm for automated guided vehicle (AGV) navigation using a 3D real-time range camera is the subject of this paper. Our approach has teen tested successfully on British safety standard recommended object sizes and materials placed on the vehicle path. The segmented (mapped) obstacles are then verified using absolute measurements obtained using a relatively accurate 2D scanning laser rangefinder. Sensor mounting and sensor modulation issues are also described through representative data sets
Keywords :
automatic guided vehicles; collision avoidance; image segmentation; laser ranging; navigation; performance evaluation; safety; 2D scanning laser rangefinder; 3D real-time range camera; AGV safety; TOF range camera; automated guided vehicle; navigation advancement obstacle detection; obstacle segmentation; sensor modulation; sensor mounting; Cameras; Image sensors; Infrared detectors; Materials testing; Mechanical sensors; NIST; Navigation; Optical materials; Sensor phenomena and characterization; Vehicle safety;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507450
