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Proceedings Paper

Experiments toward non-contact safety standards for automated industrial vehicles
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Paper Abstract

The performance evaluation of an obstacle detection and segmentation algorithm for Automated Guided Vehicle (AGV) navigation in factory-like environments using a new 3D real-time range camera is the subject of this paper. Our approach expands on the US ASME B56.5 Safety Standard, which now allows for non-contact safety sensors, by performing tests on objects specifically sized in both the US and the British Safety Standards. These successful tests placed the recommended, as well as smaller, material-covered and sized objects on the vehicle path for static measurement. The segmented (mapped) obstacles were then verified in range to the objects and object size using simultaneous, absolute measurements obtained using a relatively accurate 2D scanning laser rangefinder. These 3D range cameras are expected to be relatively inexpensive and used indoors and possibly used outdoors for a vast amount of mobile robot applications building on experimental results explained in this paper.

Paper Details

Date Published: 27 May 2005
PDF: 11 pages
Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); doi: 10.1117/12.602334
Show Author Affiliations
Roger Bostelman, National Institute of Standards and Technology (United States)
Tsai Hong, National Institute of Standards and Technology (United States)
Raj Madhavan, National Institute of Standards and Technology (United States)


Published in SPIE Proceedings Vol. 5804:
Unmanned Ground Vehicle Technology VII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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