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Proceedings Paper

Monocular feature tracker for low-cost stereo vision control of an autonomous guided vehicle (AGV)
Author(s): Chris M. Pearson; Penelope J. Probert
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Paper Abstract

We describe a monocular feature tracker (MFT), the first stage of a low cost stereoscopic vision system for use on an autonomous guided vehicle (AGV) in an indoor environment. The system does not require artificial markings or other beacons, but relies upon accurate knowledge of the AGV motion. Linear array cameras (LAC) are used to reduce the data and processing bandwidths. The limited information given by LAC require modelling of the expected features. We model an obstacle as a vertical line segment touching the floor, and can distinguish between these obstacles and most other clutter in an image sequence. Detection of these obstacles is sufficient information for local AGV navigation.

Paper Details

Date Published: 1 February 1994
PDF: 11 pages
Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); doi: 10.1117/12.167506
Show Author Affiliations
Chris M. Pearson, Univ. of Oxford (United Kingdom)
Penelope J. Probert, Univ. of Oxford (United Kingdom)

Published in SPIE Proceedings Vol. 2058:
Mobile Robots VIII
William J. Wolfe; Wendell H. Chun, Editor(s)

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