A key important part of a warehouse operation is to keep track of the products in the warehouse. Traditionally, handheld scanners are used to scan the products to perform a stock count. The advancements in robotics have paved the way for new technologies that can improve the scanning process. This work shows how prior knowledge and warehouse structure can be used to perform scanning operations. The method uses a localized camera in the warehouse whose estimates drift over time and the knowledge about the environment to estimate the correct location of the product using factor graphs. The proposed method shows by exploiting the structure of the warehouse the drift in the VIO(Visual Inertial Odometry) can be reduced and the position estimation of the location labels can be improved