NOTICE: Due to a lapse in annual appropriations, most of this website is not being updated. Learn more.

Form submissions will still be accepted but will not receive responses at this time. Sections of this site for programs using non-appropriated funds (such as NVLAP) or those that are excepted from the shutdown (such as CHIPS and NVD) will continue to be updated.

U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

PUBLICATIONS

Obstacle Detection using a TOF Range Camera* for AGV 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 rangefinder. Sensor mounting and sensor modulation issues will also be described through representative data sets.
Citation
ICAE Journal
Pub Type
Journals

Download Paper

Local Download

Keywords

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

Citation

Bostelman, R. , , T. and Madhavan, R. (2005), Obstacle Detection using a TOF Range Camera* for AGV Safety and Navigation, ICAE Journal, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823540 (Accessed October 2, 2025)

Issues

If you have any questions about this publication or are having problems accessing it, please contact [email protected].

Created January 3, 2005, Updated February 17, 2017
Was this page helpful?