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Implementation of an intelligent vision system for an adaptive path-planning of industrial AGV system  

Ko, Jung-Hwan (Department of Mechatronics, Inha Technical College)
Publication Information
전자공학회논문지 IE / v.46, no.1, 2009 , pp. 23-30 More about this Journal
Abstract
In this paper, the intelligent vision system for an effective and intelligent path-planning of an industrial AGV system based on stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the industrial AGV system and the obstacle detected and the 2D Path coordinates obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The industrial AGV system move automatically by effective and intelligent path-planning using the obtained 2D path coordinates. From some experiments on AGV system driving with the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 2.5% on average, respectably.
Keywords
AGV(Automatic Guided Vehicle); Stereo Camera; Depth Map; 2D Path coordinates;
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Times Cited By KSCI : 2  (Citation Analysis)
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