A Scalable and LongTerm Wearable Augmented Reality System for Order Picking Order picking is one of the most important tasks in modern warehouses, while augmented reality (AR) is a friendly alternative by conveying manual picking information into visual guidance to improve the picking performance. Nevertheless, there is still a lack of scalable and systematic consensus to deploy the pickbyAR method associated with actual warehouse workplaces. This article describes a comprehensive methodology for the use of wearable AR in the order picking process. To enable a robust AR assisted manual order picking system in a warehouse floor, the markerbased global map about the actual shelves is established automatically, empowering a scalable, lowcost and longterm tracking capacity for pickbyAR within the warehouse floor and allowing the operator to move freely in the actual workplace. The system is evaluated in the automobile assembly line, and experimental results illustrate that the proposed work can provide a systematic solution for pickbyAR applications in actual warehouse fields.

An Augmented Reality Interface for HumanRobot Interaction in Unconstrained Environments As robots start to become ubiquitous in the personal workspace, it is necessary to have simple and intuitive interfaces to interact with them. In this paper, we propose an augmented reality (AR) interface for humanrobot interaction (HRI) in a shared working environment. By fusing markerbased and markerless AR technologies, a mobile AR interface is created that enables a smartphone to detect planar surfaces and localize a manipulator robot in its working environment while obviating the need for a controlled or constrained environment. The AR interface and robot manipulator are integrated to render a system that enables users to perform pickandplace task effortlessly. Specifically, a smartphonebased AR application is developed that allows a user to select any location within the robotu0027s workspace by merely touching on the smartphone screen. Virtual objects, rendered at userselected locations, are used to determine the pick and place locations of objects in the real world. The virtual objectu0027s start and end points, originally specified in the smartphone camera coordinate frame, are transformed into the robot coordinate frame for the robot manipulator to autonomously perform the assigned task. A user study is conducted with participants to evaluate the system performance and user experience. The results show that the proposed AR interface is userfriendly and intuitive to operate the robot, and it allows users to communicate their intentions through the virtual object easily.