Abstract
A materials handling vehicle comprising a camera, a vehicle position processor, and a drive mechanism configured to move the materials handling vehicle along an inventory transit surface. The vehicle position processor is configured to generate end-of-aisle data and aisle-specific rack leg spacing data from an image of an aisle entry identifier associated with at least a portion of a rack leg positioned in a racking system aisle, as captured by the camera, generate an initial position of the materials handling vehicle along the inventory transit surface using the end-of-aisle data, generate an expected position of the materials handling vehicle as the vehicle travels down a racking system aisle corresponding to the aisle entry identifier from the end-of-aisle data and the aisle-specific rack leg spacing data, navigate the materials handling vehicle to exit the racking system aisle, and update the expected position of the materials handling vehicle using data received from the materials handling vehicle when the materials handling vehicle is outside of the racking system aisle, wherein the data comprises at least from a tag identifier component, odometry data, steer wheel angle, steer wheel speed, or combinations thereof.