{"id":"https://openalex.org/W7130724282","doi":"https://doi.org/10.48550/arxiv.2602.16744","title":"ICP-Based Pallet Tracking for Unloading on Inclined Surfaces by Autonomous Forklifts","display_name":"ICP-Based Pallet Tracking for Unloading on Inclined Surfaces by Autonomous Forklifts","publication_year":2026,"publication_date":"2026-02-18","ids":{"openalex":"https://openalex.org/W7130724282","doi":"https://doi.org/10.48550/arxiv.2602.16744"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.16744","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.16744","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.16744","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110924760","display_name":"Takuro Kato","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kato, Takuro","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Morisawa, Mitsuharu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.4212000072002411,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.4212000072002411,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.0949999988079071,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.08299999684095383,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pallet","display_name":"Pallet","score":0.9787999987602234},{"id":"https://openalex.org/keywords/fork","display_name":"Fork (system call)","score":0.8734999895095825},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5627999901771545},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5236999988555908},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.51910001039505},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48649999499320984}],"concepts":[{"id":"https://openalex.org/C51413319","wikidata":"https://www.wikidata.org/wiki/Q505996","display_name":"Pallet","level":2,"score":0.9787999987602234},{"id":"https://openalex.org/C40523978","wikidata":"https://www.wikidata.org/wiki/Q14675","display_name":"Fork (system call)","level":2,"score":0.8734999895095825},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5627999901771545},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5236999988555908},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.51910001039505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49300000071525574},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48649999499320984},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39989998936653137},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34850001335144043},{"id":"https://openalex.org/C21552470","wikidata":"https://www.wikidata.org/wiki/Q1141977","display_name":"Real-time locating system","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31940001249313354},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.2809000015258789},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C2779454638","wikidata":"https://www.wikidata.org/wiki/Q7100700","display_name":"Order picking","level":3,"score":0.2524000108242035},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.16744","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.16744","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.16744","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.16744","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,122,134],"control":[4],"method":[5,27,113],"for":[6],"autonomous":[7],"forklifts":[8],"to":[9,18,35,69,78,90],"unload":[10],"pallets":[11],"on":[12],"inclined":[13,131],"surfaces,":[14],"enabling":[15],"the":[16,23,29,40,44,49,57,60,63,70,73,79,83,92,97,100,106,111,130],"fork":[17,61,74,84,98],"be":[19],"withdrawn":[20],"without":[21],"dragging":[22,104],"pallets.":[24],"The":[25,108],"proposed":[26,112],"applies":[28],"Iterative":[30],"Closest":[31],"Point":[32],"(ICP)":[33],"algorithm":[34],"point":[36],"clouds":[37],"measured":[38],"from":[39],"upper":[41],"region":[42],"of":[43,105,110,133],"pallet":[45,58],"and":[46,52,59,119],"thereby":[47],"tracks":[48],"relative":[50],"position":[51],"attitude":[53],"angle":[54],"difference":[55],"between":[56],"during":[62],"unloading":[64,93,127],"operation":[65],"in":[66],"real-time.":[67],"According":[68],"tracking":[71],"result,":[72],"is":[75,85,88,114],"aligned":[76],"parallel":[77],"target":[80],"surface.":[81],"After":[82],"aligned,":[86],"it":[87],"possible":[89],"complete":[91],"process":[94],"by":[95],"withdrawing":[96],"along":[99],"tilt,":[101],"preventing":[102],"any":[103],"pallet.":[107],"effectiveness":[109],"verified":[115],"through":[116],"dynamic":[117],"simulations":[118],"experiments":[120],"using":[121],"real":[123],"forklift":[124],"that":[125],"replicate":[126],"operations":[128],"onto":[129],"bed":[132],"truck.":[135]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-02-21T00:00:00"}
