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2008
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Probabilistic UHF RFID tag pose estimation with multiple antennas and a multipath RF propagation model

10 years 4 months ago
Probabilistic UHF RFID tag pose estimation with multiple antennas and a multipath RF propagation model
—We present a novel particle filter implementation for estimating the pose of tags in the environment with respect to an RFID-equipped robot. This particle filter combines signals from a specially designed RFID antenna system with odometry and an RFID signal propagation model. Our model includes antenna characteristics, direct-path RF propagation, and multi-path RF propagation. We first describe a novel 6-antenna RFID sensor system that provides the robot with a 360-degree view of the tags in its environment. We then present the results of real-world evaluation where RFID-inferred tag position is compared with ground truth data from a laser range-finder. In our experiments the system is shown to estimate the pose of UHF RFID tags in a real-world environment without requiring a priori training or map-building. The system exhibits 6.1deg mean bearing error and 0.69m mean range error over robot to tag distances of over 4m in an environment with significant multipath. The RFID syste...
Travis Deyle, Charles C. Kemp, Matthew S. Reynolds
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Travis Deyle, Charles C. Kemp, Matthew S. Reynolds
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