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Obstacle Detection using a Time-of -Flight Range Camera for Automated Guided Vehicle Safety and Navigation

Published

Author(s)

Roger V. Bostelman, Tsai H. 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 rangefinder. Sensor mounting and sensor modulation issues will also be described through representative data sets.
Citation
Integrated Computer-Aided Engineering

Keywords

3D range camera, ASME B56.5, British EN1525, ground truth, LADAR/LIDAR Sensors, Mobility, real-time, safety standard, Standards

Citation

Bostelman, R. , Hong, T. and Madhavan, R. (2006), Obstacle Detection using a Time-of -Flight Range Camera for Automated Guided Vehicle Safety and Navigation, Integrated Computer-Aided Engineering, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822670 (Accessed May 30, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created June 27, 2006, Updated October 12, 2021