Factor graphs for inventory label scanning in warehouse

Master thesis (2023)

Authors

D. KALYANASUNDARAM Mechanical Engineering

Contributors

G.C.H.E. de Croon (mentor)

J. Alonso-Mora Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering (mentor)

Michaël M.O.I. Ozo (mentor)

Holger Caesar Intelligent Vehicles - Mechanical, Maritime and Materials Engineering (graduation committee member)

Faculty

Mechanical Engineering, Mechanical Engineering

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Published Date

28-11-2023

Language

English

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Faculty

Mechanical Engineering

Abstract

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

Files

DKalyanasundaram_thesis.pdf

File under embargo until 28-11-2025