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1. (WO2017040949) INDUSTRIAL VEHICLE WITH FEATURE-BASED LOCALIZATION AND NAVIGATION

Pub. No.:    WO/2017/040949    International Application No.:    PCT/US2016/050135
Publication Date: Fri Mar 10 00:59:59 CET 2017 International Filing Date: Sat Sep 03 01:59:59 CEST 2016
IPC: G01C 22/00
Applicants: CROWN EQUIPMENT CORPORATION
Inventors: BELL, Mark
Title: INDUSTRIAL VEHICLE WITH FEATURE-BASED LOCALIZATION AND NAVIGATION
Abstract:
An industrial vehicle is provided comprising a drive mechanism, a steering mechanism, a vehicle controller, a camera, and a navigation module. The camera is communicatively coupled to the navigation module, the vehicle controller is responsive to commands from the navigation module, and the drive mechanism and the steering mechanism are responsive to commands from the vehicle controller. The camera is configured to capture an input image of a warehouse ceiling comprising elongated skylights characterized by different rates of image intensity change along longitudinal and transverse axial directions, and ceiling lights characterized by a circularly symmetric rate of image intensity change. The navigation module is configured to distinguish between the ceiling lights and the skylights and send commands to the vehicle controller for localization, or to navigate the industrial vehicle through the warehouse based upon valid ceiling light identification, valid skylight identification, or both.