Automatic visual guidance of a forklift engaging a pallet

Authors:
Michael Seelinger;John-David Yoder
Affiliations:
Yoder Software, Inc., 715 W. Michigan Ave., Urbana, IL 61801, United States;Department of Mechanical Engineering, Ohio Northern University, Ada, OH 45810, United States
Venue:
Robotics and Autonomous Systems
Year:
2006

Citing 4
Cited 3

Three-dimensional camera space manipulation

International Journal of Robotics Research
Application of a precision-enhancing measure in 3D rigid-body positioning using camera-space manipulation

International Journal of Robotics Research
SUSAN—A New Approach to Low Level Image Processing

International Journal of Computer Vision
Robot Vision

Robot Vision

A robust autonomous mobile forklift pallet recognition

CAR'10 Proceedings of the 2nd international Asia conference on Informatics in control, automation and robotics - Volume 3
Robot positioning using camera-space manipulation with a linear camera model

IEEE Transactions on Robotics
Autonomous Go-and-Touch Exploration (AGATE)

Journal of Field Robotics

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Abstract

This paper presents the development of a prototype vision-guided forklift system for the automatic engagement of pallets. The system is controlled using the visual guidance method of mobile camera-space manipulation, which is capable of achieving a high level of precision in positioning and orienting mobile manipulator robots without relying on camera calibration. The paper contains development of the method, the development of a prototype forklift as well as experimental results in actual pallet engagement tasks. The technology could be added to AGV systems enabling them to engage arbitrarily located pallets. It also could be added to standard forklifts as an operator assist capability.