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This paper presents a system, which is composed of a laser range finder and four artificial reflectors, for the three-dimensional (3D) localization of a mobile robot. In this system, it will be proved that the position and the heading angle of a mobile robot in a 3D space with respect to a reference frame can be determined provided that the four artificial reflectors are not installed in the same...
The performance evaluation of an obstacle detection and segmentation algorithm for automated guided vehicle (AGV) navigation using a 3D real-time range camera is the subject of this paper. Our approach has teen tested successfully on British safety standard recommended object sizes and materials placed on the vehicle path. The segmented (mapped) obstacles are then verified using absolute measurements...
This paper presents a novel method for object detection and classification in 3D laser range data that is acquired by an autonomous mobile robot. Unrestricted objects are learned using classification and regression trees (CARTs) and using an Ada Boost learning procedure. Off-screen rendered depth and reflectance images serve as an input for learning. The performance of the classification is improved...
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