  In a robotised warehouse, as in any place where robots move autonomously, a
major issue is the localization or detection of human operators during their
intervention in the work area of the robots. This paper introduces a wearable
human localization system for large warehouses, which utilize preinstalled
infrastructure used for localization of automated guided vehicles (AGVs). A
monocular down-looking camera is detecting ground nodes, identifying them and
computing the absolute position of the human to allow safe cooperation and
coexistence of humans and AGVs in the same workspace. A virtual safety area
around the human operator is set up and any AGV in this area is immediately
stopped. In order to avoid triggering an emergency stop because of the short
distance between robots and human operators, the trajectories of the robots
have to be modified so that they do not interfere with the human. The purpose
of this paper is to demonstrate an absolute visual localization method working
in the challenging environment of an automated warehouse with low intensity of
light, massively changing environment and using solely monocular camera placed
on the human body.
