The overall methodology focuses on the retrospective, event-based tracing and analysis of material flow objects. For these reasons, a methodology is presented which is subject to the objective of developing an SME-appropriate approach for efficient, temporarily feasible data collection and evaluation in production and logistics systems as a basis for process analysis and improvement. There are currently no suitable methods available for SMEs to create a well-founded and reliable data basis. Indoor tracking systems are cost-intensive, inflexible and require a high installation effort. Manual methods usually requires a very large amount of resources and result in a limited database. SMEs have only limited access to currently available methods for data acquisition. Furthermore, as a tool it can facilitate the conversion of simulated HRI scenarios into real physical experiments. intention projection, augmented reality applications etc. Our preliminary experiments show that the proposed WYSIWYG system provides a suitable environment for pHRI scenarios, and can also provide secondary functions e.g. For the proof of concept system we have used the trackers of the HTC Vive system as a localization data source and a consumer grade projector resulting in a low-cost solution. Our proposed system is capable of gathering positions from indoor localization systems and providing the transformed real-space pose information via different methods including a common standard interface, in the form of Robot Operating System (ROS) messages. Therefore an operator can instantly verify and adjust the virtual-real coordinate transformation parameters, effectively minimizing the cost of calibration and possibly increasing accuracy. The calculated real positions are shown in real-time in the same space where the real tracked objects are. To realize this, we have constructed a system using floor projection and a self-developed virtual to real coordinate system adjustment tool with an easy to use, intuitive user interface. This paper proposes the application of the WYSIWYG (What-You-See-Is-What-You-Get) style for indoor localization systems as a tool for physical Human-Robot Interaction (pHRI) experiments. Verifying whether the adjusted poses accurately reflect the poses in the real space or not is also a difficult task. Adjusting these custom virtual spaces to the real physical spaces can be a complex and high cost (manpower, equipment) procedure. Indoor localization methods provide pose information in their own virtual coordinate systems. All of these techniques present a number of issues, including low precision, high computational complexity, and unreliability due to wireless channel impairments such as multipath effects caused by non line of sight (NLOS) propagation in indoor environments, while most positioning devices lack sufficient computing power. Yet in the literature, in addition to the range-free techniques such as Centroid method and distance vector hop (DV-Hop) technique, typical ranging techniques based on channel state information (CSI), angle of arrival (AoA), time of arrival (ToA), time difference of arrival (TDoA), and radio signal strength indicator (RSSI) using various wireless technologies such as radio frequency identification (RFID), ultra-wide bandwidth (UWB), WiFi, and Bluetooth have been proposed for indoor positioning. All these transformational applications drive the need for accurate localization systems which require lots of resources due to the massive deployment of IoT devices.
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