Obstacle Detection using a TOF Range Camera for Indoor AGV Navigation

Abstract

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 1. 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. Keywords: Automated Guided Vehicle, 3D range camera, 2