Experiments Toward Non-Contact Safety Standards for Automated Industrial Vehicles

Published

April 1, 2005

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 new 3D real-time range camera is the subject of this paper. Our approach expands on the US ASME B56.5 Safety Standard, which now allows for non-contact safety sensors, by performing tests on objects specifically sized in both the US and the British Safety 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 measurements obtained using a relatively accurate 2D scanning laser range-finder. These 3D range cameras are expected to be relatively inexpensive and used indoors and possibly used outdoors for a vast amount of mobile robot applications building on experimental results explained in this paper.

Proceedings Title

SPIE Defense and Security Symposium| | | SPIE

Conference Dates

March 28-April 1, 2005

Conference Title

SPIE Defense and Security Symposium

Pub Type

Conferences

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Keywords

3D range camera, automated guided vehicle, ground truth, obstacle segmentation, real-time, safety standard

Citation

Bostelman, R. , , T. and Madhavan, R. (2005), Experiments Toward Non-Contact Safety Standards for Automated Industrial Vehicles, SPIE Defense and Security Symposium| | | SPIE, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=824533 (Accessed October 11, 2025)