RT Journal Article
SR Electronic
T1 High-Precision Vision Localization System for Autonomous Guided Vehicles in Dusty Industrial Environments
JF NAVIGATION: Journal of the Institute of Navigation
JO NAVIGATION
FD Institute of Navigation
SP navi.502
DO 10.33012/navi.502
VO 69
IS 1
A1 Xingjie Liu
A1 Guolei Wang,
A1 Ken Chen
YR 2022
UL https://navi.ion.org/content/69/1/navi.502.abstract
AB Ensuring a convenient yet accurate localization solution is an essential problem in wireless-denied industrial scenarios. Therefore, in this study, a vision localization system with light emitting diode (LED) array targets for autonomous guided vehicle (AGV) navigation is proposed. The visible targets are calibrated and the pose can be computed using a camera that views the LED target. A novel data filtering method that integrates the odometer data and inertial measurement unit (IMU) data with vision data is introduced to provide stable and accurate localization. The vision localization system was tested on a 5-m-long AGV and the results demonstrated that the proposed system obtained a static position accuracy at 6 mm, kinematic position accuracy at 10 mm, and angle accuracy at 0.052°, which is more precise than the other methods used in industrial AGV applications.