Passive localization of a forklift based on a template matching position tracking algorithm
The presented research investigates the accuracy of a localization algorithm using lidar (NAV-350) pose data in a GPS denied environment. A template matching solution is presented using the corners of the workspace area as markers. Results are also compared against the lidar NAV-350's own softw...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2024-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806241285731 |
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| _version_ | 1841555739661828096 |
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| author | Ebad Zahir Manukid Parnichkun |
| author_facet | Ebad Zahir Manukid Parnichkun |
| author_sort | Ebad Zahir |
| collection | DOAJ |
| description | The presented research investigates the accuracy of a localization algorithm using lidar (NAV-350) pose data in a GPS denied environment. A template matching solution is presented using the corners of the workspace area as markers. Results are also compared against the lidar NAV-350's own software solution which are based on average reflector distance. The presented algorithm has shown to have a higher accuracy in most cases. Data is analyzed for approximately 100 different locations in a workspace of 8.9 m by 10.7 m using an industry standard forklift with a base dimension of 1 m × 1.3 m. This paper shows how the algorithm can successfully determine the x , y coordinates and heading angle of the forklift in real time. |
| format | Article |
| id | doaj-art-486cbf73137b4ef5b5733fb897dc6a31 |
| institution | Kabale University |
| issn | 1729-8814 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj-art-486cbf73137b4ef5b5733fb897dc6a312025-01-08T03:03:20ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142024-09-012110.1177/17298806241285731Passive localization of a forklift based on a template matching position tracking algorithmEbad ZahirManukid ParnichkunThe presented research investigates the accuracy of a localization algorithm using lidar (NAV-350) pose data in a GPS denied environment. A template matching solution is presented using the corners of the workspace area as markers. Results are also compared against the lidar NAV-350's own software solution which are based on average reflector distance. The presented algorithm has shown to have a higher accuracy in most cases. Data is analyzed for approximately 100 different locations in a workspace of 8.9 m by 10.7 m using an industry standard forklift with a base dimension of 1 m × 1.3 m. This paper shows how the algorithm can successfully determine the x , y coordinates and heading angle of the forklift in real time.https://doi.org/10.1177/17298806241285731 |
| spellingShingle | Ebad Zahir Manukid Parnichkun Passive localization of a forklift based on a template matching position tracking algorithm International Journal of Advanced Robotic Systems |
| title | Passive localization of a forklift based on a template matching position tracking algorithm |
| title_full | Passive localization of a forklift based on a template matching position tracking algorithm |
| title_fullStr | Passive localization of a forklift based on a template matching position tracking algorithm |
| title_full_unstemmed | Passive localization of a forklift based on a template matching position tracking algorithm |
| title_short | Passive localization of a forklift based on a template matching position tracking algorithm |
| title_sort | passive localization of a forklift based on a template matching position tracking algorithm |
| url | https://doi.org/10.1177/17298806241285731 |
| work_keys_str_mv | AT ebadzahir passivelocalizationofaforkliftbasedonatemplatematchingpositiontrackingalgorithm AT manukidparnichkun passivelocalizationofaforkliftbasedonatemplatematchingpositiontrackingalgorithm |