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Pregled bibliografske jedinice broj: 1141652

Human localization in robotized warehouses based on stereo odometry and ground-marker fusion


Popović, Goran; Cvišić, Igor; Écorchard, Gaël; Marković, Ivan; Přeučil, Libor; Petrović, Ivan
Human localization in robotized warehouses based on stereo odometry and ground-marker fusion // Robotics and computer-integrated manufacturing, 73 (2022), 102241, 14 doi:10.1016/j.rcim.2021.102241 (međunarodna recenzija, članak, znanstveni)


CROSBI ID: 1141652 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Human localization in robotized warehouses based on stereo odometry and ground-marker fusion

Autori
Popović, Goran ; Cvišić, Igor ; Écorchard, Gaël ; Marković, Ivan ; Přeučil, Libor ; Petrović, Ivan

Izvornik
Robotics and computer-integrated manufacturing (0736-5845) 73 (2022); 102241, 14

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Visual odometry ; Human localization ; Warehouse automation ; Sensor fusion

Sažetak
Modern logistic solutions for large warehouses consist of a fleet of robots that transfer goods, move racks, and perform other physically difficult and repetitive tasks. The shopfloor is usually enclosed with a safety fence and if a human needs to enter the warehouse all the robots are stopped, as opposed to only the ones in the most immediate vicinity of the human, thus significantly limiting the warehouse efficiency. To tackle this challenge, an integrated safety system is needed with human localization as one of its essential components. In this paper, we propose a novel human localization method for robotized warehouses that is based on a suite of wearable visual sensors installed on a vest worn by humans. The proposed method does not require any modifications of the warehouse environment and relies on the already existing infrastructure. Specifically, we estimate the human location by fusing stereo visual-inertial odometry data and distances to the known absolute poses of the detected ground-markers which robots use for their localization. Fusion is performed by building a pose graph, where we treat estimated human poses relative to markers as graph nodes and odometry estimates as graph edges. We conducted extensive laboratory and warehouse facility experiments, where we tested the reliability and accuracy of the proposed method and compared its performance to a state-of-the-art visual SLAM solution, namely ORB-SLAM2. The results indicate that our method can track absolute position in real-time and has competitive accuracy with respect to ORB-SLAM2, while ensuring higher localization reliability when faced with structural changes in the environment. Furthermore, we provide publicly the experimental datasets to the research community.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Interdisciplinarne tehničke znanosti



POVEZANOST RADA


Projekti:
EK-H2020-688117 - Safe human-robot interaction in logistic applications for highly flexible warehouses (SafeLog) (EK - H2020-ICT-2015) ( POIROT)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Goran Popović (autor)

Avatar Url Ivan Petrović (autor)

Avatar Url Ivan Marković (autor)

Avatar Url Igor Cvišić (autor)

Citiraj ovu publikaciju

Popović, Goran; Cvišić, Igor; Écorchard, Gaël; Marković, Ivan; Přeučil, Libor; Petrović, Ivan
Human localization in robotized warehouses based on stereo odometry and ground-marker fusion // Robotics and computer-integrated manufacturing, 73 (2022), 102241, 14 doi:10.1016/j.rcim.2021.102241 (međunarodna recenzija, članak, znanstveni)
Popović, G., Cvišić, I., Écorchard, G., Marković, I., Přeučil, L. & Petrović, I. (2022) Human localization in robotized warehouses based on stereo odometry and ground-marker fusion. Robotics and computer-integrated manufacturing, 73, 102241, 14 doi:10.1016/j.rcim.2021.102241.
@article{article, year = {2022}, pages = {14}, DOI = {10.1016/j.rcim.2021.102241}, chapter = {102241}, keywords = {Visual odometry, Human localization, Warehouse automation, Sensor fusion}, journal = {Robotics and computer-integrated manufacturing}, doi = {10.1016/j.rcim.2021.102241}, volume = {73}, issn = {0736-5845}, title = {Human localization in robotized warehouses based on stereo odometry and ground-marker fusion}, keyword = {Visual odometry, Human localization, Warehouse automation, Sensor fusion}, chapternumber = {102241} }
@article{article, year = {2022}, pages = {14}, DOI = {10.1016/j.rcim.2021.102241}, chapter = {102241}, keywords = {Visual odometry, Human localization, Warehouse automation, Sensor fusion}, journal = {Robotics and computer-integrated manufacturing}, doi = {10.1016/j.rcim.2021.102241}, volume = {73}, issn = {0736-5845}, title = {Human localization in robotized warehouses based on stereo odometry and ground-marker fusion}, keyword = {Visual odometry, Human localization, Warehouse automation, Sensor fusion}, chapternumber = {102241} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


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