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Proceedings Paper

Visualization of pallets
Author(s): Roger Bostelman; Tsai Hong; Tommy Chang
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Paper Abstract

The National Institute of Standards and Technology (NIST) has been studying pallet visualization for the automated guided vehicle (AGV) industry. Through a cooperative research and development agreement with Transbotics, an AGV manufacturer, NIST has developed advanced sensor processing and world modeling algorithms to verify pallet location and orientation with respect to the AGV. Sensor processing utilizes two onboard AGV, single scan-line, laser-range units. The "Safety" sensor is a safety unit located at the base of a forktruck AGV and the "Panner" sensor is a panning laser-ranger rotated 90 degrees, mounted on a rotating motor, and mounted at the top, front of the AGV. The Safety sensor, typically used to detect obstacles such as humans, was also used to detect pallets and their surrounding area such as the walls of a truck to be loaded with pallets. The Panner, was used to acquire many scan-lines of range data which was processed into a 3D point cloud and segment out the pallet by a priori, approximate pallet load or remaining truck volumes. A world model was then constructed and output to the vehicle for pallet/truck volume verification. This paper will explain this joint government/industry project and results of using LADAR imaging methods.

Paper Details

Date Published: 2 October 2006
PDF: 12 pages
Proc. SPIE 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision, 638408 (2 October 2006); doi: 10.1117/12.684677
Show Author Affiliations
Roger Bostelman, National Institute of Standards and Technology (United States)
Tsai Hong, National Institute of Standards and Technology (United States)
Tommy Chang, National Institute of Standards and Technology (United States)


Published in SPIE Proceedings Vol. 6384:
Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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