Journal
2020 IEEE INTERNATIONAL CONFERENCE ON RFID (IEEE RFID 2020)
Volume -, Issue -, Pages -Publisher
IEEE
DOI: 10.1109/rfid49298.2020.9244884
Keywords
Robot Localization; Robot Tracking; SLAM; UHF-RFID Localization; RFID; Phase-based Localization; Tag Localization; Sensor Fusion; Data Fusion
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Funding
- University of Pisa
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This paper presents a state-of-the-art analysis on the current methods for robot localization based on the passive UHF-RFID technology. The state-of-the-art analysis describes the main features and challenges of several localization methods. Then, a first experimental analysis related to a novel phase-based robot localization method is presented. The robot on-board reader collects phase data from a set of passive reference tags during its motion, so resembling to a synthetic array. Then, the phase data are combined with information acquired by low-cost kinematic sensors, through a Sensor Fusion approach. The experimental results show that centimetre order localization errors can be achieved in a typical office indoor scenario by employing a few reference tags.
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