Computer vision control of an intelligent forklift truck

The paper describes an application of computer vision in the autonomous guidance of a traditional forklift truck, ROBOLIFT(TM), which is a product of Elsag Bailey Telerobot and FIAT OM. Computer vision represents the main sensory system for both navigation and load recognition. Artificial “H-shaped” landmarks placed along the truck path are used for the vehicle pose detection. Standard Europallets, supporting the loads to be transported, are recognized by the vision system in order to provide their estimated pose to the automatic fork control subsystem. The system is now tested in real industrial applications and preliminary results are reported