Abstract
This paper presents a novel approach for detection and localization of standardized euro pallets, which are orientated up to 90° in relation to the sensor plane. There is no a priori information about the pallets pose needed. We use a time-of-flight camera. Our algorithm is based on finding surfaces in the point cloud, which represent the three wooden blocks of a euro pallet. Different kinds of geometrical checks set up our detection pipeline, where no artificial markers on the pallets are needed. Since we perform the detection while driving a forklift, the algorithm must process the point cloud within a set time limit. The detection and localization result in the pallets position and orientation in relation to the camera coordinate system. This information can be provided to higher-level systems, like advanced driver assistance systems. The results show that the localization of pallets is possible in the scenario considered.
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Document information
Published on 01/01/2018
Volume 2018, 2018
DOI: 10.1109/soli.2018.8476740
Licence: CC BY-NC-SA license
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