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.

fYear

2005

fDate

18-20 July 2005

Firstpage

460

Lastpage

467

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

0-7803-9178-0

Type

conf

DOI

10.1109/ICAR.2005.1507450

Filename

1507450