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Obstacle Detection using a TOF Range Camera* for AGV Safety and Navigation



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 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.
ICAE Journal


3D range camera, ASME B56.5, British EN1525, ground truth, obstacle segmentation, real-time, safety standard


Bostelman, R. , , T. and Madhavan, R. (2005), Obstacle Detection using a TOF Range Camera* for AGV Safety and Navigation, ICAE Journal, [online], (Accessed April 21, 2024)
Created January 3, 2005, Updated February 17, 2017