# Outdoor Warehouse Management: UAS-Driven Precision Tracking of Stacked Steel Bars

## TL;DR

This paper introduces a drone-based system for tracking stacked steel bars in outdoor warehouses using QR codes and relative positioning, offering a scalable solution without relying on GPS or RFID.

## Contribution

The key novelty is an infrastructure-free method for product positioning using relative spatial relationships and trust-ability scoring.

## Key findings

- The system achieves over 94% positioning accuracy in indoor settings.
- It maintains 80% accuracy in outdoor environments despite occlusion and varying illumination.
- The method was validated in real-world industrial scenarios.

## Abstract

Accurately identifying the positions of products in outdoor environments-such as warehouses or industrial yards-presents unique challenges due to variable lighting, weather conditions, and the lack of fixed infrastructure. This work presents a vision-based drone system for product localization using QR code detection and relative positioning. The proposed system enables a UAV to autonomously scan an area, extract QR codes from captured video frames, and compute the spatial relationships between products using a trust-ability graph. Unlike traditional GPS- or RFID-based methods, our approach does not rely on external infrastructure, making it scalable and adaptable for outdoor and semi-structured environments. We demonstrate that the proposed algorithm achieves over 94% positioning accuracy in indoor settings and 80% in outdoor environments, even under occlusion and varying illumination. The key contributions of this work include: (1) a novel infrastructure-free method for product positioning based on relative spatial relationships, (2) the integration of trust-ability scoring to improve the reliability of detected positions, and (3) an extensive evaluation in real-world indoor and outdoor industrial scenarios. These results validate the potential of UAV-assisted inventory systems to enhance automation in logistics and warehouse management.