Vehicle positioning system based on passive planar image markers

Abstract

In this paper we present an approach for optical vehicle positioning (e.g. fork lifters). Our approach is motivated by planar marker detection systems like ARTag or ARToolkit, in which poses of planarmarkers relative to the camera can be determined. In contrast to existing optical positioning systems(e.g. SkyTrax), we mount cameras on the ceiling and passive (non-electronic) planar markers on the top of the vehicles. The absence of complexelectronic components on the high stressed vehicles enables rapid process integration, which is particularly important for rental vehicles. We have evaluated our method keeping the most important user requirements coverage, costs and accuracy under consideration for three intra-logistic scenarios a) zone monitoring with zone precise positioning, b) storage aisle monitoring with storage place precise positioning and, c) complete driving range monitoring with maximum precision

Pallet monitoring system based on a heterogeneous sensor network for transparent warehouse processes

“…We achieved pallet positioning accuracies of up to 10 cm. Generally, the expected accuracies are less than those reported in [2] because pallets are not always lifted the same way by forklifts. Since we have not integrated a sensor system that detects the variations of pick up, these variations can cause additional errors.…”

“…optical systems, ultrasonic systems, ZigBee, RFID, UWB or WLAN [1]. Since poor visibility and readability make direct localization of pallets stored in warehouses difficult, we use a version of indirect positioning based on passive planar markers atop vehicles [2]. This makes it possible to use large markers and reduces obstructions.…”

Operations management of smart logistics: A literature review and future research

“…However, the various format or non-format data collected from these intelligent systems also bring new challenges to VRP research. To take full advantage of these data, Borstell et al (2013) proposed an approach for integrating optical vehicle positioning with logistics VRP, which is motivated by the planar marker detection system. The feasibility of this approach has been demonstrated in three intra-logistic scenarios taking account of user requirements coverage, costs, and accuracy.…”