Real-time Pallet Localization with 3D Camera Technology for Forklifts in Logistic Environments

Benjamin Molter, J. Fottner
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引用次数: 17

Abstract

This paper presents a novel approach for detection and localization of standardized euro pallets, which are orientated up to 90° in relation to the sensor plane. There is no a priori information about the pallets pose needed. We use a time-of-flight camera. Our algorithm is based on finding surfaces in the point cloud, which represent the three wooden blocks of a euro pallet. Different kinds of geometrical checks set up our detection pipeline, where no artificial markers on the pallets are needed. Since we perform the detection while driving a forklift, the algorithm must process the point cloud within a set time limit. The detection and localization result in the pallets position and orientation in relation to the camera coordinate system. This information can be provided to higher-level systems, like advanced driver assistance systems. The results show that the localization of pallets is possible in the scenario considered.
物流环境下基于3D摄像技术的叉车托盘实时定位
本文提出了一种新的方法来检测和定位标准化欧元托盘,这是面向高达90°相对于传感器平面。没有关于托盘姿势所需的先验信息。我们用的是飞行时间照相机。我们的算法是基于在点云中寻找表面,这代表了一个欧元托盘的三个木块。不同种类的几何检查建立了我们的检测管道,在托盘上不需要人工标记。由于我们是在驾驶叉车的同时进行检测,所以算法必须在设定的时限内处理点云。检测和定位的结果是托盘的位置和方向与相机坐标系的关系。这些信息可以提供给高级系统,如高级驾驶员辅助系统。结果表明,在考虑的场景下,托盘的本地化是可能的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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