Trinocular vision for AGV guidance: Path localization and obstacle detection

This paper presents an integrated approach to the problem of AGV guidance using trinocular vision. Although this method uses three cameras, we will not do any processings related to stereo matching nor 3-D reconstruction. Instead, our trinocular vision is divided into two subsystems: monocular vision for path localization and binocular vision for obstacle detection. First, we demonstrate the geometric principle of 2-D vision. Then, we show its application for the task of AGV's path localization as well as the task of AGV's obstacle detection in the framework of trinocular vision. Experimental results with real images prove the usefulness of our method.