Obstacle Detection using a TOF Range Camera for Indoor AGV Navigation

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.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 2004
Accession Number
ADA517430

Entities

People

  • R. Bostelman
  • R. Madhavan
  • T. Hong

Organizations

  • National Institute of Standards and Technology

Tags

Communities of Interest

  • Human Systems
  • Sensors

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Automated Guided Vehicles
  • Computer Vision
  • Control Systems
  • Detection
  • Detectors
  • Environment
  • Laser Radar
  • Laser Rangefinding
  • Lasers
  • Materials
  • Measurement
  • Navigation
  • Range Finders
  • Scanning
  • Standards

Fields of Study

  • Engineering

Readers

  • Geodesy
  • Robotics and Automation.

Technology Areas

  • Directed Energy