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Localization of Humans in Warehouse based on Rack Detection

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F19%3A00336894" target="_blank" >RIV/68407700:21730/19:00336894 - isvavai.cz</a>

  • Result on the web

    <a href="https://doi.org/10.1109/ECMR.2019.8870913" target="_blank" >https://doi.org/10.1109/ECMR.2019.8870913</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/ECMR.2019.8870913" target="_blank" >10.1109/ECMR.2019.8870913</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Localization of Humans in Warehouse based on Rack Detection

  • Original language description

    This paper proposes a method for human localization in the automated warehouses. As the environment is highly dynamic due to changes in the racks content as well as the position of the rack, the proposed method uses the racks as landmarks for the localization. The fixed structure of the shelves and stands of the rack is used to detect the rack itself regardless of the content. The structure is coded as the graph and the detection is performed by finding the isomorphism between the rack model and the detected structure of the environment. The relative position is obtained by solving a PnP problem. The global position of the rack is gathered from the warehouse system by reading the marker identifying the rack. Experiments show that the localization has a mean error of 15 cm and is much more robust than the localization based on the marker itself.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

  • Continuities

    R - Projekt Ramcoveho programu EK

Others

  • Publication year

    2019

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    2019 European Conference on Mobile Robots (ECMR)

  • ISBN

    978-1-7281-3605-9

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

  • Publisher name

    IEEE

  • Place of publication

    St. Paul, Minnesota

  • Event location

    Prague

  • Event date

    Aug 4, 2019

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

    000558081900009