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Towards AGV Safety and Navigation Advancement - Obstacle Detection Using a TOF Range Camera*

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 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.
Proceedings Title
International Conference on Advanced Robotics (ICAR)
Conference Dates
July 18-20, 2005
Conference Location
Seattle, WA
Conference Title
12th International Conference on Advanced Robotics (ICAR)

Keywords

3D range camera, ground truth, obstacle segmentation, real-time, safety standard

Citation

Bostelman, R. , , T. and Madhavan, R. (2005), Towards AGV Safety and Navigation Advancement - Obstacle Detection Using a TOF Range Camera*, International Conference on Advanced Robotics (ICAR), Seattle, WA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=824010 (Accessed July 22, 2024)

Issues

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

Created July 20, 2005, Updated February 19, 2017