NDLI: AGV parking system using artificial visual landmark

Content Provider	IEEE Xplore Digital Library
Author	Jeehoon Park YoungSu Park Sang Woo Kim
Copyright Year	2008
Description	Author affiliation: Dept. of Electron. & Electr. Eng., POSTECH, Pohang (Jeehoon Park; YoungSu Park; Sang Woo Kim)
Abstract	This paper proposes an efficient method to locate the automated guided vehicle (AGV) into the parking position using artificial visual landmark. For automated transshipment system in container terminals, the port AGV is used to transport containers autonomously and efficiently. To co-operate with the transfer crane, accurate guiding and positioning system is required. Using computer vision algorithms that detect and track the object from the video streams, we extract the exact position and relative distance with respect to the parking position. The artificial landmark is designed for effective detection based on corner feature and color information. After detection phase finds the position of the landmark in the captured image, tracking phase follows the trace of the landmark in the successive image sequences. Tracking phase consists of two stages, estimation and refinement steps. Optical flow vector around the detected point in the current image is calculated by pyramidal Lucas-Kanade feature tracker, and it is used to estimate the current position of the landmark. Then, the refinement step uses some features of the landmark as references to correct the estimated position of the object. Whole process is performed in HSI color space so that the system can be robust to illuminant variation. Experiments show reliable results of parking movement of the AGV. Our approach is simple, effective and robust.
Starting Page	1579
Ending Page	1582
File Size	684631
Page Count	4
File Format	PDF
ISBN	9788995003893
DOI	10.1109/ICCAS.2008.4694484
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-10-14
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Computer vision Cranes visual landmark Containers Image sequences Data mining Phase detection Remotely operated vehicles AGV Object detection Streaming media Robustness Lucas-Kanade tracker
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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