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The analysis of an axially compressed circular tube deforming in progressive axisymmetric folds carried out by Wierzbicki et al. [(1992) Int. J. Solids Structures29, 3269–3288] assumes an eccentricity factor relating the inward and outward parts of the folds. This factor was arbitrary Beats Pro Best Price Canada and was not derived from the analysis. The present work re-examines the problem and produces a value for the eccentricity factor which conforms with the experimental findings. Values of the critical angles required for the formation of the inward and outward folds obtained from the analysis were substantiated by those obtained from experiments. This paper presents an integrated approach to the problem of AGV guidance using trinocular vision. Although this method uses three cameras, we will not do any processings related to stereo matching nor 3-D reconstruction. Instead, our trinocular vision is divided into two subsystems: monocular Cheap Beats By Dre vision for path localization and binocular vision for obstacle detection. First, we demonstrate the geometric principle of 2-D vision. Then, we show its application for the task of AGV's path localization as well as the task of AGV's obstacle detection in the framework of trinocular vision. Experimental results with real images prove the usefulness of our method.