title: A vision-based automated guided vehicle system with marker recognition for indoor use.
abstract: We propose an intelligent vision-based Automated Guided Vehicle (AGV) system using fiduciary markers. In this paper, we explore a low-cost, efficient vehicle guiding method using a consumer grade web camera and fiduciary markers. In the proposed method, the system uses fiduciary markers with a capital letter or triangle indicating direction in it. The markers are very easy to produce, manipulate, and maintain. The marker information is used to guide a vehicle. We use hue and saturation values in the image to extract marker candidates. When the known size fiduciary marker is detected by using a bird's eye view and Hough transform, the positional relation between the marker and the vehicle can be calculated. To recognize the character in the marker, a distance transform is used. The probability of feature matching was calculated by using a distance transform, and a feature having high probability is selected as a captured marker. Four directional signals and 10 alphabet features are defined and used as markers. A 98.87% recognition rate was achieved in the testing phase. The experimental results with the fiduciary marker show that the proposed method is a solution for an indoor AGV system.
authors: School of Electrical and Electronic Engineering, Yonsei University, Seodaemun-Gu, Seoul 120-749, Korea. leejaisung@yonsei.ac.kr
authors: Jeisung
authors: J
authors: Lee
authors: Chang-Ho
authors: CH
authors: Hyun
authors: Mignon
authors: M
authors: Park
mesh_terms: D001185:Artificial Intelligence; D004867:Equipment Design; D019544:Equipment Failure Analysis; D057918:Fiducial Markers; D007090:Image Interpretation, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*; D018986:Motor Vehicles; D010363:Pattern Recognition, Automated / Q000379:methods; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*
references: Sensors (Basel). 2010;10(11):9857-71
references: 22163444