Design of a Low-Cost Vision System for Laser Profilometry Aiding Smart Vehicles Movement

  • Cosimo Patruno
  • Roberto Marani
  • Massimiliano Nitti
  • Tiziana D’Orazio
  • Ettore Stella
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


We present a fast and accurate method to derive the pose of a mobile vehicle moving within bounded paths. A triangulation-based vision system made of a laser source, able to generate a line pattern, and a high speed camera is applied on the front side of an autonomous vehicle, namely the Smoov ASRV platform, which is able to store and retrieve pallets in smart warehouses. The presented system extracts the properties of the emitted laser line on the camera plane and transfers these information to the vehicle reference system. Then, the presence of constitutive landmarks along the path, i.e., holes and bends, permit the estimation of other parameters, such as vehicle speed, enabling the exact control of the vehicle. Further validations have returned accuracies lower than 2 and 3.2 % in distance and tilt measurements with respect to the rail border, respectively.


Computer vision Autonomous guided vehicle Laser profilometry Visual odometry Smart warehouse Indoor robot navigation 



This work is supported by the ISSIA-CNR Project PI-LOC (P.O. PUGLIA FESR 2007-2013 LINEA 1.2 – AZIONE 1.2.4). The authors thank the industrial partner ICAM S.r.l (Putignano, Italy) for mechanical implementation of the prototype and Dr. Giuseppe Roselli for his contribution to the design of the system.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Cosimo Patruno
    • 1
  • Roberto Marani
    • 1
  • Massimiliano Nitti
    • 1
  • Tiziana D’Orazio
    • 1
  • Ettore Stella
    • 1
  1. 1.Institute of Intelligent Systems for Automation, Italian National Research CouncilBariItaly

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