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PUBLICATIONS

Obstacle Detection Using a Time-of-Flight Range Camera for Indoor Automated Guided Vehicle Navigation

Published

Author(s)

Roger V. Bostelman, Tsai Hong Hong, Rajmohan Madhavan

Abstract

The performance evaluation of an obstacle detection and segmentation algorithm for Automated Guided Vehicle (AGV) navigation in factory-like environments 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 range-finder.
Proceedings Title
Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2004
Conference Dates
August 24-26, 2004
Conference Location
Gaithersburg, MD
Conference Title
Performance Metrics for Intelligent Systems (PerMIS) 2004
Pub Type
Conferences

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Keywords

2D range-finder, 3D range camera, Automated Guided Vehicle, obstacle detection
Manufacturing systems design and analysis

Citation

Bostelman, R. , , T. and Madhavan, R. (2004), Obstacle Detection Using a Time-of-Flight Range Camera for Indoor Automated Guided Vehicle Navigation, Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2004, Gaithersburg, MD, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823512 (Accessed October 10, 2025)

Issues

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Created August 1, 2004, Updated February 19, 2017
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