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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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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
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e-ISSN
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Number of pages
6
Pages from-to
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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