Chapter 6: Acuity Localization
Acuity localization uses a camera to detect overhead lights, enabling the AMR to localize itself
in an environment where laser localization by itself is not an optimal solution.
Laser localization is largely tolerant of changing environments, but it becomes difficult where
more than 80% of the features seen by the laser change. This includes settings such as ware-
houses, where many objects like shipping pallets or rolling carts change locations often, or
which block the laser’s view of mapped features. Acuity is also useful when wide-open spaces
don’t provide enough features for laser localization.
When Acuity Won’t Work
l
Acuity localization will not work with indirect lighting.
l
In general, Acuity localization works if at least three light fixtures can be seen by the
camera. More is always better. If some of the light bulbs within a light fixture go out, it
should not affect Acuity, as long as there are some lights still on in the fixture.
Installation Scenarios
There are three basic scenarios that affect which sections of this chapter you will need:
l
Acuity localization has been ordered with a platform and a factory-designed payload
structure.
l
Acuity localization has been ordered with a platform, to be installed on a payload struc-
ture designed by you.
l
Acuity localization has been ordered as a kit, to be installed as an upgrade to an exist-
ing platform on a payload structure designed by you.
In the first case:
l
You will not have to configure any software or import camera calibration, as that will
have been done at the factory.
l
The location of the camera assembly will be predetermined, so payload structure design
is taken care of.
In the second case, the Acuity-related software will be installed at the factory.
In the third case, this entire chapter will be relevant.
Payload Structure Design
l
The location for the camera needs to provide a flat, level surface at least 57.2 mm (2.25
in.) in diameter.
l
The camera lens must be not be obstructed by any other part of the AMR. It has a 140°
field-of-view, so take care that nothing higher than the camera lens is close beside the
camera.
l
The mounting location needs to provide a sturdy support for the camera, as any
13732-000 Rev J
LD Platform Peripherals Guide
89
