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Stereo Vision Based Navigation for Automated Vehicles in Industry

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Publication Type:

Conference/Workshop Paper

Venue:

14th IEEE International Conference on emerging Technologies and Factory Automation ETFA 2009


Abstract

This paper proposes a stereo vision based localization and mapping strategy for vehicular navigation within industrial environments using natural landmarks. The work proposed is strictly related to factory automation, since focus is on industrial vehicle autonomous navigation for material handling, in order to increase the operating efficiency with reduced risk for accidents. The stereovision system, proposed as the main sensor, provides the necessary feedback to navigate and simultaneously calibrate the stereocamera parameters (like the camera separation, focal length, camera placement with respect to the robot, etc.). It uses the natural landmarks already present in the environment without additional infrastructures. Some simulation and experimental results are presented in order to explain the proposed method and current status.

Bibtex

@inproceedings{Spampinato1531,
author = {Giacomo Spampinato and J{\"o}rgen Lidholm and Fredrik Ekstrand and Lars Asplund},
title = {Stereo Vision Based Navigation for Automated Vehicles in Industry},
month = {September},
year = {2009},
booktitle = {14th IEEE International Conference on emerging Technologies and Factory Automation ETFA 2009},
url = {http://www.es.mdh.se/publications/1531-}
}