Logistics autonomous vehicle with robust object detection, localization and monitoring

A method of object detection and localization for an autonomous guided vehicle, the method comprising:

• providing an autonomous guided vehicle with:
• a frame with a payload hold;
• a drive section coupled to the frame with drive wheels supporting the autonomous guided vehicle on a traverse surface, the drive wheels effect vehicle traverse on the traverse surface moving the autonomous guided vehicle over the traverse surface in a facility;
• a payload handler coupled to the frame and configured to transfer a payload, with a flat undeterministic seating surface seated in the payload hold, to and from the payload hold of the autonomous guided vehicle and a storage location, of the payload, in a storage array;
• a vision system mounted to the frame, the vision system having at least one camera;
• and
• a controller communicably coupled to the vision system;
• generating, with the at least one camera of the vision system, video stream data imaging of an object in a logistic space, where the object is at least one of at least part of the frame, at least part of the payload, at least part of the payload handler and at least part of a logistic item or structure in the logistic space beyond the autonomous guided vehicle;
• registering, with the controller, the video stream data imaging from the at least one camera;
• and
• detecting a distance of the object with at least one or more of a time of flight sensor and a distance sensor that at communicably coupled to the controller;
• wherein the controller effects, from the video stream data imaging, robust object detection and localization within a predetermined reference frame via alternately both binocular vision and monocular vision from the video stream data imaging, the detection determined via monocular vision having confidence commensurate with detection determined via the binocular vision.