Patent Document ID: 9170581
Application ID: 14499721
Patent Status: 1

Claim One:
1. An industrial vehicle comprising a camera and one or more processors, wherein: the camera is communicatively coupled to the one or more processors; the camera captures an input image of ceiling lights of the ceiling of the warehouse; and the one or more processors execute machine readable instructions to: associate raw features of the ceiling lights of the input image with one or more feature groups; execute a Hough transform to transform the raw features of the one or more feature groups into line segments associated with the one or more feature groups; determine a convex hull of the raw features of the one or more feature groups; compare the line segments of the one or more feature groups and the convex hull in Hough space; discard the line segments of the one or more feature groups that are outside of a threshold of similarity to the convex hull of the raw features of the one or more feature groups, whereby a preferred set of lines is selected for the one or more feature groups from the line segments of the one or more feature groups; determine a centerline of the one or more feature groups from the preferred set of lines; associate the centerline of the one or more feature groups with one of the ceiling lights of the input image; and navigate the industrial vehicle through the warehouse utilizing the centerline of the one or more feature groups.