Obstacle Detection using a TOF Range Camera for Indoor AGV Navigation
NATIONAL INST OF STANDARDS AND TECHNOLOGY GAITHERSBURG MD INTELLIGENT SYSTEMS DIV
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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.
- Surface Transportation and Equipment
- Navigation and Guidance