Mapping and Localization with RFID Technology

We analyze whether radio frequency identification (RFID) technology can be used to improve the localization of mobile robots and persons in their environment. In particular we study the problem of localizing RFID tags with a mobile platform that is equipped with a pair of RFID antennas. We present a probabilistic measurement model for RFID readers that allow us to accurately localize RFID tags in the environment. We also demonstrate how such maps can be used to localize a robot and persons in their environment. Finally, we present experiments illustrating that the computational requirements for global robot localization can be reduced strongly by fusing RFID information with laser data.

Authors

• Dirk Hähnel
• Wolfram Burgard
• Dieter Fox
• Kenneth P. Fishkin
• Matthai Philipose

Keywords

• Radiofrequency identification
• Mobile robots
• RFID tags
• Laser modes
• Mobile antennas
• Computer science
• Antenna measurements
• Robot sensing systems
• Robot localization
• Circuits
• Radio Frequency Identification
• Mobile Robot
• Mobile Platform
• Detection Range
• Radio Waves
• Motion Model
• Particle Filter
• Sensor Model
• Position Of The Robot
• Laser Ranging
• Global Localization
• Robot Pose
• Robot Path
• Tagging Location
• Tag Position
• Observation Likelihood