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In this paper, we present a method for infrastructure-free localization of Automated Guided Vehicles (AGVs) in a warehouse environment. To accomplish this, our approach leverages 3D data for both mapping and feature segmentation. First, a 3D reconstruction of the warehouse is created to extract salient natural features — in this case the shelving uprights — as landmarks. Next, the map-based localization...
In this paper, we present a system level approach to smart wheelchair system (SWS) navigation in urban environments. The proposed SWS ecosystem has two primary components: a mapping service which generates large-scale landmark maps, and the SWS vehicle itself, which is a client of the mapping service. The SWS prototype integrates 3D LIDAR/imaging systems which provide robust perception in unstructured,...
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