Localization of Pallets on Shelves Using Horizontal Plane Projection of a 360-degree Image
Yasuyo Kita, Yudai Fujieda, Ichiro Matsuda, Nobuyuki Kita

TL;DR
This paper introduces a method using 360-degree camera images to accurately determine the 3D position and orientation of pallets on shelves, enhancing forklift automation with improved precision.
Contribution
It proposes a novel projection-based approach to accurately detect pallet yaw angle and position from 360-degree images, improving upon previous detection accuracy.
Findings
Accurately detects pallet position and orientation in real-world settings.
Works within reasonable computation time for practical use.
Validated with laboratory and warehouse images.
Abstract
In this paper, we propose a method for calculating the three-dimensional (3D) position and orientation of a pallet placed on a shelf on the side of a forklift truck using a 360-degree camera. By using a 360-degree camera mounted on the forklift truck, it is possible to observe both the pallet at the side of the forklift and one several meters ahead. However, the pallet on the obtained image is observed with different distortion depending on its 3D position, so that it is difficult to extract the pallet from the image. To solve this problem, a method [1] has been proposed for detecting a pallet by projecting a 360-degree image on a vertical plane that coincides with the front of the shelf to calculate an image similar to the image seen from the front of the shelf. At the same time as the detection, the approximate position and orientation of the detected pallet can be obtained, but the…
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Taxonomy
TopicsImage and Object Detection Techniques · 3D Surveying and Cultural Heritage · Robotics and Sensor-Based Localization
