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

Published

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 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 range-finder.
Citation
Integrated Computer-Aided Engineering

Keywords

2D range-finder, 3D range camera, Automated Guided Vehicle, obstacle detection

Citation

Bostelman, R. , , T. and Madhavan, R. (2004), Obstacle Detection Using a Time-of-Flight Range Camera for Indoor Automated Guided Vehicle Safety and Navigation, Integrated Computer-Aided Engineering, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=824513 (Accessed May 25, 2024)

Issues

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

Created August 1, 2004, Updated February 17, 2017