Estimation of the Position of Loaded Packages in a Roll Cage Cart: Estimating the Placement Layout of Multiple Packages in a Flat Space

The purpose of this research is to develop a system that shows the loading position of deliveries in a roll cage cart. This study solves the problem of the difficulty of locating individual deliveries in piles. In the proposed system, it is possible to determine the location and size of the package without tearing down the pile of deliveries. The system uses a combination of RFID readers and IMUs to estimate the location of deliveries based on RSSI and azimuth. In addition, the system incorporates the known information of the size of the deliveries and the size of the cart to estimate the position of the delivery in the cart. The proposed algorithm using the constraints of this roll cage cart and the size and coordinates of the packages is used to estimate the location of the packages in the roll cage cart and present it to the delivery workers. This paper reports on the estimation of the positional relationship of multiple packages arrangements in a two-dimensional plane.