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 September 17, 2024)
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Obstacle Detection using a Time-of -Flight Range Camera for Automated Guided Vehicle Safety and Navigation
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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
Pub Type
Journals
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Keywords
3D range camera, ASME B56.5, British EN1525, ground truth, LADAR/LIDAR Sensors, Mobility, real-time, safety standard, Standards
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Created June 27, 2006, Updated October 12, 2021