An embedded stereo vision module for industrial vehicles automation

Author

Spampinato, G. ; Lidholm, J. ; Ahlberg, C. ; Ekstrand, F. ; Ekstrom, M. ; Asplund, L.

Author_Institution

Sch. of Innovation, Design & Eng., Malardalen Univ., Vasteras, Sweden

fYear

2013

fDate

25-28 Feb. 2013

Firstpage

52

Lastpage

57

Abstract

This paper presents an embedded vision system based on reconfigurable hardware (FPGA) to perform stereo image processing and 3D mapping of sparse features for autonomous navigation and obstacle detection in industrial settings. We propose an EKF based visual SLAM to achieve a 6D localization of the vehicle even in non flat scenarios. The system uses vision as the only source of information. As a consequence, it operates regardless of the odometry from the vehicle since visual odometry is used.

Keywords

Kalman filters; automatic guided vehicles; collision avoidance; embedded systems; field programmable gate arrays; industrial robots; nonlinear filters; robot vision; stereo image processing; visual perception; 3D mapping; 6D localization; AGV; EKF based visual SLAM; FPGA; automatic guided vehicles; autonomous navigation; embedded stereo vision module; industrial settings; industrial vehicles automation; nonflat scenarios; obstacle detection; reconfigurable hardware; sparse features; stereo image processing; visual odometry; Cameras; Field programmable gate arrays; Robots; Three-dimensional displays; Uncertainty; Vehicles; Visualization; 3D vision; Embedded; SLAM; portable;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology (ICIT), 2013 IEEE International Conference on

Conference_Location

Cape Town

Print_ISBN

978-1-4673-4567-5

Electronic_ISBN

978-1-4673-4568-2

Type

conf

DOI

10.1109/ICIT.2013.6505647

Filename

6505647