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We propose a commodity tracking system which is composed of an intelligent cabinet, a human/commodity tracking system, and Town Management System. Being equipped with a tag reader of RFID and a planar pressure sensor, the intelligent cabinet measures the positions of commodities. The human/commodity tracking system using a LRF measures the position of a human/commodity on a floor. Town Management System integrates the position information and provides robots with real-time information on commodities. The commodity tracking is successfully demonstrated in daily life environment.

2A1-C09 Position Tracking System for Commodities in a Daily Human Life Environment