A pallet recognition and rotation algorithm for autonomous logistics vehicle system of a distribution center

This paper introduces a pallet recognition and rotation measurement algorithm for logistic AGV, Based on YOLO v3 and depth camera. From the camera 2D data is collected and the coordinate system from the image is changed into the corresponding world coordination system with the aid of depth data from...

Full description

Saved in:
Bibliographic Details
Published in2021 21st International Conference on Control, Automation and Systems (ICCAS) pp. 1387 - 1390
Main Authors Joo, Kyeong-Jin, Pyo, Jeong-Won, Ghosh, Arpan, In, Gun-Gyo, Kuc, Tae-Yong
Format Conference Proceeding
LanguageEnglish
Published ICROS 12.10.2021
Subjects
AGV
Cameras
Deep learning
Loading
Orientation
Pallet
Pallets
Path planning
Point cloud compression
Position measurement
World Coordinate
YOLO v3
Online AccessGet full text

Cover

More Information
Summary:This paper introduces a pallet recognition and rotation measurement algorithm for logistic AGV, Based on YOLO v3 and depth camera. From the camera 2D data is collected and the coordinate system from the image is changed into the corresponding world coordination system with the aid of depth data from RealSense camera. Furthermore, by processing point cloud and RANSAC algorithm, we can get the precise orientation and direction of the pallet. Finally, in the experimental result, the autonomous driving AGV with the proposed algorithm shows the results of path planning, loading, and unloading the pallet. It also shows that the developed algorithm is applicable to autonomous driving of AGV for logistics.
ISSN:2642-3901
DOI:10.23919/ICCAS52745.2021.9649741