Vehicle positioning system based on passive planar image markers

Inthis paperwe presentan approach foroptical vehicle positioning (e.g. fork lifters). Our approach is motivated by planar marker detection systems like ARTag or ARToolkit, in which poses of planarmarkers relative to the camera can be determined. In contrast toexisting optical positioning systems(e.g. SkyTrax), we mount cameras on the ceiling and passive (non-electronic) planar markers on the top of the vehicles. The absenceof complexelectronic components on the high stressed vehicles enablesrapid process integration, which is particularly important forrental vehicles. We have evaluated our method keeping the most important user requirementscoverage, costsand accuracyunder consideration for three intra-logistic scenarios a) zone monitoring with zone precise positioning, b) storage aisle monitoring with storage place precise positioning and, c) complete driving rangemonitoringwith maximumprecision.