Evaluation of a stereovision sensor system for the control of an autonomous guided vehicle

Bernard F. Buxton; D. A. Castelow; M. J. Dell

doi:10.1117/12.164853

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17 December 1993 Evaluation of a stereovision sensor system for the control of an autonomous guided vehicle

Bernard F. Buxton, D. A. Castelow, M. J. Dell

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Proceedings Volume 1989, Computer Vision for Industry; (1993) https://doi.org/10.1117/12.164853
Event: Electronic Imaging Device Engineering, 1993, Munich, Germany

Abstract

A binocular stereo vision system has been used to demonstrate freespace determination for local navigation of a laboratory robot vehicle, and object recognition, location and tracking for docking of the vehicle with known objects. Experiments on the performance of the object recognition, location and tracking of the system implemented on a multi-transputer architecture hosted by a SUN workstation are reported and discussed. It is shown that the choice of focus feature groups critically affect the success of the object recognition, but that once recognized, objects can be located consistently to an accuracy of a few mm and approximately 2 degree(s) in the working volume of 2 - 3 m. Small, relative displacements of an object by a few cm can be detected to a similar accuracy whilst larger displacements of 0.5 - 1.0 m can be measured to within a few %. Tracking of objects in 3D at 2 - 3 Hz using a small set of focus features to limit processing of the incoming image data to a small number of regions of interest is shown to be only slightly less accurate.

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Bernard F. Buxton, D. A. Castelow, and M. J. Dell "Evaluation of a stereovision sensor system for the control of an autonomous guided vehicle", Proc. SPIE 1989, Computer Vision for Industry, (17 December 1993); https://doi.org/10.1117/12.164853

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