Localization of Humans in Warehouse based on Rack Detection
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Localization of Humans in Warehouse based on Rack Detection
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Localization of Humans in Warehouse based on Rack Detection
Popis výsledku anglicky
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.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Návaznosti výsledku
Projekt
—
Návaznosti
R - Projekt Ramcoveho programu EK
Ostatní
Rok uplatnění
2019
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
2019 European Conference on Mobile Robots (ECMR)
ISBN
978-1-7281-3605-9
ISSN
—
e-ISSN
—
Počet stran výsledku
6
Strana od-do
—
Název nakladatele
IEEE
Místo vydání
St. Paul, Minnesota
Místo konání akce
Prague
Datum konání akce
4. 8. 2019
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
000558081900009