Method for Automated Forklift Pallet Transfer with Simple Camera Calibration

Tibor Bataljak Savić, Krešimir Turković, Ian Petek, Damjan Miklić

2025

Abstract

This paper describes a practical method for calibrating the camera pose for adaptive pallet pickup by automated forklifts. Adaptive pickup is an important prerequisite for human-robot collaborative workflows. It enables robots to handle pallets that have been incorrectly placed by humans. We propose a vision-based method that estimates the pallet pose from RGB-D data and adapts the robot approach path accordingly. The vision pipeline combines semantic segmentation of the RGB image with geometric analysis of the depth channel. Precise camera pose calibration is fundamental for the accuracy of the whole pipeline. The method relies on the known geometry of the forks and can be run on-line before every operation. This is important from a practical point of view, as it compensates for small deviations that may occur due to vibrations during vehicle motion. We present validation results in a simulated environment and on a real automated forklift.

Paper Citation

in Harvard Style

Bataljak Savić T., Turković K., Petek I. and Miklić D. (2025). Method for Automated Forklift Pallet Transfer with Simple Camera Calibration. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 175-182. DOI: 10.5220/0013853800003982

in Bibtex Style

@conference{icinco25,
author={Tibor Bataljak Savić and Krešimir Turković and Ian Petek and Damjan Miklić},
title={Method for Automated Forklift Pallet Transfer with Simple Camera Calibration},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={175-182},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013853800003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Method for Automated Forklift Pallet Transfer with Simple Camera Calibration
SN - 978-989-758-770-2
AU - Bataljak Savić T.
AU - Turković K.
AU - Petek I.
AU - Miklić D.
PY - 2025
SP - 175
EP - 182
DO - 10.5220/0013853800003982
PB - SciTePress