Proposal of a Method for Real-time Detection of Obstacle Using Line Laser and Camera

Abstract

Automated guided vehicles (AGVs) have been widely used in factories and warehouses. Functions such as obstacle detection are indispensable for unmanned transport robots. We have developed a new approach for obstacle detection using a line laser and a camera. In this study, we improved the detection process of the system, made it realtime, implemented it on a robot, and verified the measurement accuracy of the system. As a result of measuring the distance to the obstacle and the size of the obstacle, the measurement error was small, within 20 mm, and it was confirmed that the system could detect the obstacle with good accuracy.