Vehicle positioning system based on passive planar image markers

In this paper we present an approach for optical vehicle positioning (e.g. fork lifters). Our approach is motivated by planar marker detection systems like ARTag or ARToolkit, in which poses of planar markers relative to the camera can be determined. In contrast to existing 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 absence of complex electronic components on the high stressed vehicles enables rapid process integration, which is particularly important for rental vehicles. We have evaluated our method keeping the most important user requirements coverage, costs and accuracy under 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 range monitoring with maximum precision.