Obstacle detection using a Time-of-Flight range camera for Automated Guided Vehicle safety and navigation

Issue title: Performance Metrics for Intelligent Systems

Guest editors: Elena Messina

Article type: Research Article

Authors: Bostelman, Roger^{; *} | Hong, Tsai | Madhavan, Raj

Affiliations: Intelligent Systems Division, Manufacturing Engineering Laboratory, National Institute of Standards and Technology, 100 Bureau Drive, MS 8230, Gaithersburg, MD 20899, USA. Tel.: +1 301 975 3426/3444/2865; Fax: +1 301 921 6165, +1 301 990 9688 | Intelligent Systems Division, National Institute of Standards and Technology (NIST), Gaithersburg, MD 20899-8230, USA. Fax: +1 301 990 9688; E-mail: elena.messina@nist.gov

Correspondence: [*] Corresponding author. E-mail: roger.bostelman@nist.gov.

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.

DOI: 10.3233/ICA-2005-12303

Journal: Integrated Computer-Aided Engineering, vol. 12, no. 3, pp. 237-249, 2005