  In a robotised warehouse a major issue is the safety of human operators in
case of intervention in the work area of the robots. The current solution is to
shut down every robot but it causes a loss of productivity, especially for
large robotised warehouses. In order to avoid this loss we need to ensure the
operator's security during his/her intervention in the warehouse without
powering off the robots. The human operator needs to be localised in the
warehouse and 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 a
visual localisation method with visual elements that are already available in
the current warehouse setup.
