An Autonomous Forklift with 3D Time-of-Flight Camera-Based Localization and Navigation

Ulrich Behrje; Marian Himstedt; Erik Maehle

doi:10.1109/ICARCV.2018.8581085

An Autonomous Forklift with 3D Time-of-Flight Camera-Based Localization and Navigation

Ulrich Behrje, Marian Himstedt, Erik Maehle

Institut für Technische Informatik

Institute of Computer Engineering

20 Zitate (Scopus)

Abstract

In this paper we present an autonomous guided vehicle (AGV) based on a forklift. While centralized transport systems are widely used in the industry, these systems are expensive to set up and inflexible with regard to changes in the schedule. We in contrast investigate an approach that uses a decentralized autonomous forklift that uses a 3D Time-of-Flight (ToF) camera as its navigation sensor and is not dependent on artificial visual landmarks. The capability to process transport orders and maneuver in confined space with the required accuracy has been successfully tested in two warehouse environments.

Originalsprache	Englisch
Titel	2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Seitenumfang	8
Herausgeber (Verlag)	IEEE
Erscheinungsdatum	18.12.2018
Seiten	1739-1746
ISBN (Print)	978-1-5386-9581-4 , 978-1-5386-9583-8
ISBN (elektronisch)	978-1-5386-9582-1
DOIs	https://doi.org/10.1109/ICARCV.2018.8581085
Publikationsstatus	Veröffentlicht - 18.12.2018
Veranstaltung	15th International Conference on Control, Automation, Robotics and Vision - Singapore, Singapur Dauer: 18.11.2018 → 21.11.2018 Konferenznummer: 143787

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SDG 9 – Industrie, Innovation und Infrastruktur

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10.1109/ICARCV.2018.8581085

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https://www.scopus.com/pages/publications/85060783842

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@inproceedings{aeb749f297bf4601bfe44de11239accb,

title = "An Autonomous Forklift with 3D Time-of-Flight Camera-Based Localization and Navigation",

abstract = "In this paper we present an autonomous guided vehicle (AGV) based on a forklift. While centralized transport systems are widely used in the industry, these systems are expensive to set up and inflexible with regard to changes in the schedule. We in contrast investigate an approach that uses a decentralized autonomous forklift that uses a 3D Time-of-Flight (ToF) camera as its navigation sensor and is not dependent on artificial visual landmarks. The capability to process transport orders and maneuver in confined space with the required accuracy has been successfully tested in two warehouse environments.",

author = "Ulrich Behrje and Marian Himstedt and Erik Maehle",

year = "2018",

month = dec,

day = "18",

doi = "10.1109/ICARCV.2018.8581085",

language = "English",

isbn = "978-1-5386-9581-4 ",

series = "IEEE Proceedings",

publisher = "IEEE",

pages = "1739--1746",

booktitle = "2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)",

note = "15th International Conference on Control, Automation, Robotics and Vision , ICARCV 2018 ; Conference date: 18-11-2018 Through 21-11-2018",

}

Behrje, U, Himstedt, M & Maehle, E 2018, An Autonomous Forklift with 3D Time-of-Flight Camera-Based Localization and Navigation. in 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV). IEEE Proceedings, IEEE, S. 1739-1746, 15th International Conference on Control, Automation, Robotics and Vision , Singapore, Singapur, 18.11.18. https://doi.org/10.1109/ICARCV.2018.8581085

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AU - Maehle, Erik

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PY - 2018/12/18

Y1 - 2018/12/18

N2 - In this paper we present an autonomous guided vehicle (AGV) based on a forklift. While centralized transport systems are widely used in the industry, these systems are expensive to set up and inflexible with regard to changes in the schedule. We in contrast investigate an approach that uses a decentralized autonomous forklift that uses a 3D Time-of-Flight (ToF) camera as its navigation sensor and is not dependent on artificial visual landmarks. The capability to process transport orders and maneuver in confined space with the required accuracy has been successfully tested in two warehouse environments.

AB - In this paper we present an autonomous guided vehicle (AGV) based on a forklift. While centralized transport systems are widely used in the industry, these systems are expensive to set up and inflexible with regard to changes in the schedule. We in contrast investigate an approach that uses a decentralized autonomous forklift that uses a 3D Time-of-Flight (ToF) camera as its navigation sensor and is not dependent on artificial visual landmarks. The capability to process transport orders and maneuver in confined space with the required accuracy has been successfully tested in two warehouse environments.

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M3 - Conference contribution

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SN - 978-1-5386-9583-8

T3 - IEEE Proceedings

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BT - 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)

PB - IEEE

T2 - 15th International Conference on Control, Automation, Robotics and Vision

Y2 - 18 November 2018 through 21 November 2018

ER -

An Autonomous Forklift with 3D Time-of-Flight Camera-Based Localization and Navigation

Abstract

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