Industrial vehicles with point fix based localization

摘要

According to the embodiments described herein, an industrial vehicle can include a camera and one or more processors. The camera can capture an input image of ceiling lights of the ceiling of the warehouse. The one or more processors can execute machine readable instructions to detect transversal edges from the ceiling lights of the input image. The machine readable instructions executed by the one or more processors can determine points of convergence between the transversal edges and a first edge line and a second edge line. The machine readable instructions executed by the one or more processors can select a set of point fixes from the points of convergence. The machine readable instructions executed by the one or more processors can navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.

主权项

1. An industrial vehicle comprising a camera and one or more processors, wherein:
the camera is communicatively coupled to the one or more processors; the camera is mounted to the industrial vehicle and focused to a ceiling of a warehouse; the camera captures an input image of ceiling lights of the ceiling of the warehouse; and the one or more processors execute machine readable instructions to
provide a centerline of a row of ceiling light features in the captured input image by extracting raw feature components belonging to a class of ceiling lights from the captured input image as classified ceiling light features, associating the classified ceiling light features with separate ceiling lights, extracting ceiling light features from the raw feature components, filtering out ceiling light features not usable for determining the centerline, and determining the centerline from the remaining ceiling light features,determine ceiling light corners by extracting raw feature components belonging to a class of ceiling lights from the captured input image as classified ceiling light features, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the raw feature components, filtering ceiling light features as usable or unusable for determining the ceiling light corners, determining the ceiling light corners from the remaining ceiling light features,select a set of point fixes from the ceiling light corners, andnavigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.