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Experiments Toward Non-Contact Safety Standards for Automated Industrial Vehicles



Roger V. Bostelman, Tsai Hong Hong, Rajmohan Madhavan


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


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


Bostelman, R. , , T. and Madhavan, R. (2005), Experiments Toward Non-Contact Safety Standards for Automated Industrial Vehicles, SPIE Defense and Security Symposium| | | SPIE, [online], (Accessed June 20, 2024)


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Created April 1, 2005, Updated February 17, 2017