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; the one or more processors execute machine readable instructions to:
provide a first edge line and a second edge line of the ceiling lights of the input image;provide a centerline of the ceiling lights of the input image, wherein the centerline is disposed between the first edge line and the second edge line of the ceiling lights;detect transversal edges from the ceiling lights of the input image;determine points of convergence between the transversal edges and the first edge line and the second edge line;select a set of point fixes from the points of convergence; andnavigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.