RA-L 202072 citations
WareVision: CNN Barcode Detection-Based UAV Trajectory Optimization for Autonomous Warehouse Stocktaking
Ivan Kalinov, Alexander Petrovsky, Valeriy Ilin, Egor Pristanskiy, Mikhail Kurenkov, Vladimir Ramzhaev, Ildar Idrisov, Dzmitry Tsetserukou
Abstract
This letter presents a heterogeneous Unmanned Aerial Vehicle (UAV)-based robotic system for real-time barcode detection and scanning using Convolutional Neural Networks (CNN). The proposed approach improves the UAV's localization using scanned barcodes as landmarks in a real warehouse with low-light conditions. Instead of using the standard overlapping snake-based grid (OSBG) trajectory, we implement a novel approach for flight-path optimization based on barcode locations. This approach reduces the time of warehouse stocktaking and decreases the number of mistakes in barcode scanning.
BibTeX
@inproceedings{ral2020_warevisioncnnbar,
title = {WareVision: CNN Barcode Detection-Based UAV Trajectory Optimization for Autonomous Warehouse Stocktaking},
author = {Ivan Kalinov and Alexander Petrovsky and Valeriy Ilin and Egor Pristanskiy and Mikhail Kurenkov and Vladimir Ramzhaev and Ildar Idrisov and Dzmitry Tsetserukou},
booktitle = {RA-L 2020},
year = {2020}
}