Wearable camera-based human absolute localization in large warehouses

Gaël Écorchard; Karel Košnar; Libor Přeučil

doi:10.1117/12.2559424

31 January 2020 Wearable camera-based human absolute localization in large warehouses

Gaël Écorchard, Karel Košnar, Libor Přeučil

Proceedings Volume 11433, Twelfth International Conference on Machine Vision (ICMV 2019); 114332S (2020) https://doi.org/10.1117/12.2559424
Event: Twelfth International Conference on Machine Vision, 2019, Amsterdam, Netherlands

Abstract

In a robotised warehouse, as in any place where robots move autonomously, a major issue is the localization or detection of human operators during their intervention in the work area of the robots. This paper introduces a wearable human localization system for large warehouses, which utilize preinstalled infrastructure used for localization of automated guided vehicles (AGVs). A monocular down-looking camera is detecting ground nodes, identifying them and computing the absolute position of the human to allow safe cooperation and coexistence of humans and AGVs in the same workspace. A virtual safety area around the human operator is set up and any AGV in this area is immediately stopped. In order to avoid triggering an emergency stop because of the short distance between robots and human operators, the trajectories of the robots have to be modified so that they do not interfere with the human. The purpose of this paper is to demonstrate an absolute visual localization method working in the challenging environment of an automated warehouse with low intensity of light, massively changing environment and using solely monocular camera placed on the human body.

Citation Download Citation

Gaël Écorchard, Karel Košnar, and Libor Přeučil "Wearable camera-based human absolute localization in large warehouses", Proc. SPIE 11433, Twelfth International Conference on Machine Vision (ICMV 2019), 114332S (31 January 2020); https://doi.org/10.1117/12.2559424

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