REN-CHYUAN LUOJ. W. JangKeller H.Sousk S2018-09-102018-09-101988-01http://scholars.lib.ntu.edu.tw/handle/123456789/342806https://www.scopus.com/inward/record.uri?eid=2-s2.0-85069189844&doi=10.1109%2fIECON.1988.662368&partnerID=40&md5=ba403e14f4ff66f08101e758d157d2a5A robotically assisted field material handling system designed for loading and unloading of a planar pallet with a forklift in unstructured field environment is'presented The system uses combined acoustic/visual sensing data to define the position/orientation of the pallet and to determine the specific locations of the two slots of the pallet, so that the forklift can move close to the slot and engage it for transport. In order to reduce the complexity of the material handling operation, we have developed a method based on the integration of 2-D range data of Poraloid ultrasonic sensor along with 2-D visual data of an optical camera. Data obtained from the two separate sources complements each other and is used in an efficient algorithm to control this robotically assisted field material handling system. Range data obtained from two linear scannings is used to determine the pan and tilt angles of of a pallet using least mean square method. Then, 2-D visual data is used to determine the swing angle and. © 1988 IEEE.Acoustic ranging system; Engagement; Feature; Integration; Invariance; Linear scanning; Orientation; Planar surface; Slope; Vision systemAgricultural robots; Crystal orientation; Industrial electronics; Integration; Invariance; Least squares approximations; Pallets; Robotics; Unloading; Acoustic ranging; Engagement; Feature; Linear scanning; Planar surface; Slope; Vision systems; Computer visionconference paper2-s2.0-85069189844