Load tracking system based on self- tracking forklift

Self-tracking forklift (10) employs various onboard technologies including either machine vision (102), RF tag reader (104), or accelerometers with RF reset (106) to perform less costly "inside-out" self-tracking verses "outside-in" tracking such as GPS, RF triangulation or UWB cell network with onboard transponders. Forklift (10) further employs load dimension sensor (30), implemented as stereoscopic cameras (108), 2d cameras with laser line generators (110), or 3d area sensors (112) in order to constantly scan for loads (4) being either engaged, lifted, lowered or disengaged by fork lift arms (10L). In addition to times of load (4) engagement and disengagement, sensor (30) also captures outer dimensions of load (4) along with its image. Onboard computer (50) records times of load (4) engagement and disengagement along with load (4) outer dimensions, image and identity (input by asset tag reader (114)) to be combined with the current location and orientation of lift (10) for creating a virtual warehouse database (102).