Multiscan-based map optimizer for RFID map-building with low-accuracy measurements

This paper studies the problem of mobile robot mapbuilding using a low-accuracy RFID sensor. In recent years, there has been increasing number of mobile robot systems using RFID landmarks. A difficulty arises from the fact that the characteristics of RFID sensors are quite electrically-sensitive, which makes the mapbuilding process difficult to converge. Our solution is to integrate a robust multiscan-based online sensor model within an SGD framework of map-optimization, which significantly improves the convergence and accuracy.

• Type: Conference
• Year: 2008
• Where: ICPR
• Authors: Kanji Tanaka
• Keywords: Computer Vision, ICPR 2008, Low-accuracy Rfid Sensor, Mobile Robot, Rfid Sensors