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20230617000000.0 |
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170319s2016 pau|||||o|||||||||||eng|| |
| 024 |
7 |
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|a 10.1520/STP159420150051
|2 doi
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| 035 |
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|a (IN-ChSCO)ASTMSTP159420150051
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| 040 |
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|a ASTM
|c SCOPE
|b eng
|e rda
|d PAU
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| 041 |
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|a eng
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| 111 |
2 |
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|a Autonomous Industrial Vehicles: From the Laboratory to the Factory Floor
|d (2015 :
|c Seattle, Washington)
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| 245 |
1 |
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|a 3D Sensors on Driverless Trucks for Detection of Overhanging Objects in the Pathway /
|c Klas Hedenberg, Björn Åstrand
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| 264 |
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1 |
|a West Conshohocken, Pa. :
|b ASTM International,
|c 2016
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| 300 |
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|a 1 online resource (16 pages) :
|b illustrations, figures, tables
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| 336 |
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|a text
|2 rdacontent
|b txt
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| 337 |
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|a computer
|2 rdamedia
|b c
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| 338 |
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|a online resource
|2 rdacarrier
|b cr
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| 347 |
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|a text file
|b PDF
|2 rda
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| 504 |
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|a Includes bibliographical references
|b 10
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|a Restricted for use by site license.
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| 520 |
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|a Human-operated and driverless trucks often collaborate in a mixed work space in industries and warehouses. This is more efficient and flexible than using only one kind of truck. However, because driverless trucks need to give way to driven trucks, a reliable detection system is required. Several challenges exist in the development of such a system. The first is to select interesting situations and objects. Overhanging objects are often found in industrial environments (e.g., tines on a forklift). Second is choosing a system that has the ability to detect those situations. (The traditional laser scanner situated two decimetres above the floor does not detect overhanging objects.) Third is to ensure that the perception system is reliable. A solution used on trucks today is to mount a two-dimensional laser scanner on top and tilt the scanner toward the floor. However, objects at the top of the truck will be detected too late, and a collision cannot always be avoided. Our aim is to replace the upper two-dimensional laser scanner with a three-dimensional camera, structural light, or time-of-flight (TOF) camera. It is important to maximize the field of view in the desired detection volume. Hence, the sensor placement is important. We conducted laboratory experiments to check and compare the various sensors' capabilities for different colors, using tines and a model of a tine in a controlled industrial environment. We also conducted field experiments in a warehouse. Our conclusion is that both the tested structural light and TOF sensors have problems detecting black items that are non-perpendicular to the sensor. It is important to optimize the light economy-meaning the illumination power, field of view, and exposure time-in order to detect as many different objects as possible
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| 541 |
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|a ASTM International
|3 PDF
|c Purchase price
|h USD25
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| 588 |
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|a Description based on publisher's website, viewed March 19, 2017
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| 650 |
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0 |
|a Automated vehicles
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| 650 |
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0 |
|a Intelligent control systems
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| 650 |
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0 |
|a Mobile robots
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| 650 |
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0 |
|a Motor vehicles
|x Automatic control
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| 650 |
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0 |
|a Obstacle detection
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| 650 |
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0 |
|a Safety
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| 650 |
1 |
4 |
|a Mobile robots
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| 650 |
2 |
4 |
|a Obstacle detection
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| 650 |
2 |
4 |
|a Safety
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| 700 |
1 |
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|a Astrand, Bjorn,
|e author
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| 700 |
1 |
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|a Hedenberg, Klas,
|e author
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| 710 |
2 |
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|a ASTM International
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| 710 |
2 |
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|a American Society for Testing and Materials
|t Selected Technical Papers.
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| 710 |
2 |
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|a American Society for Testing and Materials
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| 740 |
0 |
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|a ASTM digital library
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| 999 |
1 |
0 |
|i a7482dbf-a5e1-4357-a666-526c6c1d40da
|l 9978998888203681
|s US-PU
|m 3d_sensors_on_driverless_trucks_for_detection_of_overhanging_objects_i_____2016_______astmia________________________________________autonomous_industria_______________e
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