Monocular feature tracker for low-cost stereo vision control of an autonomous guided vehicle (AGV)

Chris M. Pearson; Penelope J. Probert

doi:10.1117/12.167506

1 February 1994 Monocular feature tracker for low-cost stereo vision control of an autonomous guided vehicle (AGV)

Chris M. Pearson, Penelope J. Probert

Proceedings Volume 2058, Mobile Robots VIII; (1994) https://doi.org/10.1117/12.167506
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

We describe a monocular feature tracker (MFT), the first stage of a low cost stereoscopic vision system for use on an autonomous guided vehicle (AGV) in an indoor environment. The system does not require artificial markings or other beacons, but relies upon accurate knowledge of the AGV motion. Linear array cameras (LAC) are used to reduce the data and processing bandwidths. The limited information given by LAC require modelling of the expected features. We model an obstacle as a vertical line segment touching the floor, and can distinguish between these obstacles and most other clutter in an image sequence. Detection of these obstacles is sufficient information for local AGV navigation.

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Chris M. Pearson and Penelope J. Probert "Monocular feature tracker for low-cost stereo vision control of an autonomous guided vehicle (AGV)", Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); https://doi.org/10.1117/12.167506

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KEYWORDS

Cameras

Image segmentation

Mobile robots

Calibration

Error analysis

Imaging systems

Motion models

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