Method for detecting objects in a warehouse and/or for spatial orientation in a warehouse

An industrial truck with an apparatus for detecting objects in a warehouse and/or for spatial orientation in a warehouse, wherein the apparatus comprises the following:

• a 3-D camera for acquiring image data, wherein the 3-D camera is fastened to the industrial truck so that a viewing direction of the 3-D camera has a defined angle to the horizontal, an image sensor having sensor elements arranged matrix-like and the image data comprises a plurality of pixels, to each of which distance information is assigned,
• an evaluation apparatus for evaluating the image data that is designed for the purpose of calculating angle information, which each specify an angle between a surface represented by the image element and a vertical reference plane, for a plurality of image elements, determining a predominant direction based on the frequencies of the calculated angle information, calculating positions of the acquired pixels along the predominant direction, and detecting at least one main plane of the warehouse based on a frequency distribution of the calculated positions.

An industrial truck having an apparatus for detecting objects in a warehouse and/or for spatial orientation in a warehouse, wherein the apparatus comprises the following:

• a 3-D camera for acquiring image data, wherein the 3-D camera is fastened to the industrial truck so that a viewing direction of the 3-D camera (18) has a defined angle to the horizontal, has an image sensor with sensor elements arranged matrix-like and the image data comprises a plurality of pixels, to each of which a color value and distance information is assigned,
• an evaluation apparatus for evaluating the image data that is designed for the purpose of segmenting the image data into contiguous segments based on the color values, calculating segment attributes for each of the segments, classifying the segments based on the segment attribute, and detecting a warehouse object based on the classification.