Advancing Warehouse Spatial Awareness by Equipping On-Site Personnel with a Wearable Simultaneous Perception & Mapping System
GORU-W gives warehouse workers and the robots around them a shared, real-time understanding of the same space — making human–robot collaboration safer and more efficient.
Programme
Eurostars-3 (Call 9)
Project ID
Eureka 9460
Duration
30 months (2026 – 2028)
Pilot Site
Live warehouse, Romania
About the Project
Modern warehouses increasingly combine human workers with autonomous mobile robots (AMR/AGV) — yet the two still perceive the same space very differently. GORU-W addresses this gap by equipping on-site personnel with a wearable Simultaneous Perception & Mapping (SPM) system: a body-worn unit that continuously localizes the wearer, perceives the surroundings, and shares this awareness with the warehouse's robots and management systems in real time.
The project specialises Selvi Technology's field-proven GORU® perception platform for warehouse dynamics. Over 30 months, the consortium defines warehouse-specific requirements, develops the warehouse-optimised wearable SPM system, and validates it in a live warehouse pilot in which autonomous robots are made continuously aware of worker positions.
Objectives
Define warehouse-specific user needs, operational requirements and measurable KPIs together with end users, covering worker safety, ergonomics, industrial-grade reliability and worker acceptance.
Specialise the field-proven GORU® platform into a warehouse-optimised wearable Simultaneous Perception & Mapping system, combining GPS-free visual-inertial localization, marker-aided re-localization and real-time perception of people, forklifts and mobile robots.
Develop standard integration interfaces that share worker positions and detected events with AMR/AGV fleets, digital twin platforms and WMS/WES/MES/SCADA systems in real time.
Validate the complete system in a live warehouse pilot in Romania, demonstrating safe human–robot co-location over full work shifts under realistic operating conditions.
Prepare the market entry of the warehouse-optimised GORU-W product through exploitation planning, certification preparation and broad dissemination of the project results.
Methodology
GPS-free self-localization of the wearer using camera and inertial data — no external positioning infrastructure required.
Long-term map stability in repetitive aisle layouts through fiducial-marker-aided position corrections.
On-device detection of people, forklifts and mobile robots (AMR/AGV) in the wearer's surroundings.
All camera processing stays on the device; only position and event data are shared — privacy by design.
Live worker positions are published to AMR/AGV fleets and digital twin platforms over standard interfaces (MQTT, optional ROS 2 bridge).
Adapter contracts towards WMS/WES/MES and SCADA systems for seamless operational integration.
Expected Impact
- Safer human–robot co-location in shared warehouse spaces
- Enhanced workflow optimisation and reduced operational downtime
- Privacy-preserving worker localization, designed for GDPR compliance
- A warehouse-optimised wearable SPM product ready for market entry
News & Events
Project kick-off
The GORU-W consortium officially started work, launching the requirements definition phase together with warehouse end users.
GORU-W selected for funding
The GORU-W proposal was positively evaluated and selected for funding under Eurostars-3 Call 9 (Eureka ID 9460).
Dissemination & Communication
Public materials produced by the project will be published here as they become available.
Public project reports, starting with the State-of-the-Art Report.
Periodic project newsletter issues — subscribe below to receive them.
Printable project leaflet introducing GORU-W.
Project poster for events and exhibitions.
Scientific publications and press releases.
Workshops, demonstrations and pilot open days.
Consortium
Selvi Technology — Türkiye
Project Coordinator — wearable SPM system development
BEIA Grid Institut — Romania
Pilot site owner — integration and validation
BEIA Consulting International — Romania
Experimentation and international networking
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Funding Acknowledgment
The GORU-W project (Eureka ID 9460) is funded within the Eurostars-3 joint programme, co-funded by Eureka member countries and the European Union through Horizon Europe. National funding for the Turkish partner is provided by TÜBİTAK. Views and opinions expressed are those of the project consortium only and do not necessarily reflect those of the European Union or the granting authorities.