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Publication Citation: Towards AGV Safety and Navigation Advancement - Obstacle Detection Using a TOF Range Camera*

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Author(s): Roger V. Bostelman; Tsai Hong Hong; Rajmohan Madhavan;
Title: Towards AGV Safety and Navigation Advancement - Obstacle Detection Using a TOF Range Camera*
Published: July 20, 2005
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 been 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 will also be described through representative data sets.
Conference: 12th International Conference on Advanced Robotics (ICAR)
Proceedings: International Conference on Advanced Robotics (ICAR)
Location: Seattle, WA
Dates: July 18-20, 2005
Keywords: 3D range camera;ground truth;obstacle segmentation;real-time;safety standard
Research Areas: Metrology and Standards for Manufacturing Systems and Data
PDF version: PDF Document Click here to retrieve PDF version of paper (678KB)