Experiments toward Non-contact Safety Standards for Automated Industrial Vehicles

Published

June 28, 2006

Author(s)

Roger V. Bostelman, Tsai Hong Hong, Rajmohan Madhavan

Abstract

The performance evaluation of an obstacle detection and segmentation algorithm is explained upon comparing a new range camera to ground truth. Automated Guided Vehicles (AGVs) in factory-like environments may one day utilize this algorithm for advanced vehicle navigation along with using a new 3D real-time range camera. Our approach expands on the US and British Safety Standards, which allow for non-contact safety sensors on vehicles, by performing tests on objects specifically sized in both standards. These successful tests placed the recommended, as well as smaller, material-covered and sized objects on the vehicle path for static measurement. The segmented (mapped) obstacles were then verified in range to the objects and object size using simultaneous, absolute, ground truth measurements obtained from a relatively accurate 2D scanning laser rangefinder. The 3D range cameras are expected to be relatively inexpensive, used indoors and possibly one day used outdoors for several potential mobile robot applications that build upon experimental results explained in this paper.

Proceedings Title

Proceedings of the SPIE Defense and Security Symposium

Conference Dates

March 28-April 1, 2005

Conference Location

Kissimmee, FL

Conference Title

SPIE Defense and Security Symposium

Pub Type

Conferences

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Keywords

3D range camera, ground truth, LADAR/LIDAR/Sensors, obstacle segmentation, real-time, Robotics & Intelligent Systems, safety standard, Unmanned Systems

Citation

Bostelman, R. , , T. and Madhavan, R. (2006), Experiments toward Non-contact Safety Standards for Automated Industrial Vehicles, Proceedings of the SPIE Defense and Security Symposium, Kissimmee, FL, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822673 (Accessed December 14, 2024)