{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,2]],"date-time":"2025-11-02T01:58:31Z","timestamp":1762048711008,"version":"build-2065373602"},"reference-count":25,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2022,5,2]],"date-time":"2022-05-02T00:00:00Z","timestamp":1651449600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Project \u201cINDTECH 4.0\u2014new technologies for smart manufacturing\u201d","award":["POCI-01-0247-FEDER-026653","COMPETE 2020\u2014Competitiveness and Internationalization Operational Program (POCI)","UIDB\/04033\/2020"],"award-info":[{"award-number":["POCI-01-0247-FEDER-026653","COMPETE 2020\u2014Competitiveness and Internationalization Operational Program (POCI)","UIDB\/04033\/2020"]}]},{"name":"European Regional Development Fund (ERDF)","award":["POCI-01-0247-FEDER-026653","COMPETE 2020\u2014Competitiveness and Internationalization Operational Program (POCI)","UIDB\/04033\/2020"],"award-info":[{"award-number":["POCI-01-0247-FEDER-026653","COMPETE 2020\u2014Competitiveness and Internationalization Operational Program (POCI)","UIDB\/04033\/2020"]}]},{"name":"national funds from FCT\u2014Portuguese Foundation for Science and Technology","award":["POCI-01-0247-FEDER-026653","COMPETE 2020\u2014Competitiveness and Internationalization Operational Program (POCI)","UIDB\/04033\/2020"],"award-info":[{"award-number":["POCI-01-0247-FEDER-026653","COMPETE 2020\u2014Competitiveness and Internationalization Operational Program (POCI)","UIDB\/04033\/2020"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Machines"],"abstract":"<jats:p>Autonomous driving is one of the fastest developing fields of robotics. With the ever-growing interest in autonomous driving, the ability to provide robots with both efficient and safe navigation capabilities is of paramount significance. With the continuous development of automation technology, higher levels of autonomous driving can be achieved with vision-based methodologies. Moreover, materials handling in industrial assembly lines can be performed efficiently using automated guided vehicles (AGVs). However, the visual perception of industrial environments is complex due to the existence of many obstacles in pre-defined routes. With the INDTECH 4.0 project, we aim to develop an autonomous navigation system, allowing the AGV to detect and avoid obstacles based in the processing of depth data acquired with a frontal depth camera mounted on the AGV. Applying the RANSAC (random sample consensus) and Euclidean clustering algorithms to the 3D point clouds captured by the camera, we can isolate obstacles from the ground plane and separate them into clusters. The clusters give information about the location of obstacles with respect to the AGV position. In experiments conducted outdoors and indoors, the results revealed that the method is very effective, returning high percentages of detection for most tests.<\/jats:p>","DOI":"10.3390\/machines10050332","type":"journal-article","created":{"date-parts":[[2022,5,2]],"date-time":"2022-05-02T07:08:58Z","timestamp":1651475338000},"page":"332","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Obstacle Detection for Autonomous Guided Vehicles through Point Cloud Clustering Using Depth Data"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3577-2225","authenticated-orcid":false,"given":"Micael","family":"Pires","sequence":"first","affiliation":[{"name":"School of Science and Technology, University of Tr\u00e1s-os-Montes e Alto Douro (UTAD), 5000-801 Vila Real, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0859-8978","authenticated-orcid":false,"given":"Pedro","family":"Couto","sequence":"additional","affiliation":[{"name":"School of Science and Technology, University of Tr\u00e1s-os-Montes e Alto Douro (UTAD), 5000-801 Vila Real, Portugal"},{"name":"CITAB\u2014Centre for the Research and Technology of Agro-Environmental and Biological Sciences, Quinta de Prados, 5000-801 Vila Real, Portugal"}]},{"given":"Ant\u00f3nio","family":"Santos","sequence":"additional","affiliation":[{"name":"Active Space Technologies, Parque Industrial de Taveiro, Lote 12, 3045-508 Coimbra, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3747-6577","authenticated-orcid":false,"given":"V\u00edtor","family":"Filipe","sequence":"additional","affiliation":[{"name":"School of Science and Technology, University of Tr\u00e1s-os-Montes e Alto Douro (UTAD), 5000-801 Vila Real, Portugal"},{"name":"Institute for Systems and Computer Engineering Technology and Science (INESC TEC), 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,2]]},"reference":[{"key":"ref_1","unstructured":"Pires, M.A. (2021). 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