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

Institute of Computer Engineering

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.

Original language	English
Title of host publication	2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Number of pages	8
Publisher	IEEE
Publication date	18.12.2018
Pages	1739-1746
ISBN (Print)	978-1-5386-9581-4 , 978-1-5386-9583-8
ISBN (Electronic)	978-1-5386-9582-1
DOIs	https://doi.org/10.1109/ICARCV.2018.8581085
Publication status	Published - 18.12.2018
Event	15th International Conference on Control, Automation, Robotics and Vision - Singapore, Singapore Duration: 18.11.2018 → 21.11.2018 Conference number: 143787

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10.1109/ICARCV.2018.8581085

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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",

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doi = "10.1109/ICARCV.2018.8581085",

language = "English",

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

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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",

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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, pp. 1739-1746, 15th International Conference on Control, Automation, Robotics and Vision , Singapore, Singapore, 18.11.18. https://doi.org/10.1109/ICARCV.2018.8581085

An Autonomous Forklift with 3D Time-of-Flight Camera-Based Localization and Navigation. / Behrje, Ulrich; Himstedt, Marian; Maehle, Erik.
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV). IEEE, 2018. p. 1739-1746 (IEEE Proceedings).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

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

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