NDLI: Pose estimation of a mobile robot on a lattice of RFID tags

Content Provider	IEEE Xplore Digital Library
Author	Kodaka, K. Niwa, H. Sakamoto, Y. Otake, M. Kanemori, Y. Sugano, S.
Copyright Year	2008
Description	Author affiliation: Wabot-House Lab., Waseda Univ., Tokyo (Kodaka, K.; Niwa, H.; Sakamoto, Y.; Otake, M.; Kanemori, Y.; Sugano, S.)
Abstract	A method of estimating pose of a robot on a lattice of RFID tags is described. In recent years, radio frequency identification (RFID) technology has become a very popular method for localizing robots because it is robust to disturbances such as lighting and obstacles, which adversely affect the conventional methods that use cameras, supersonic waves and so on. Despite the advantage that RFID tags, especially passive tags, can be inexpensively mass-produced, previous studies using RFID have not targeted the detailed work of robots because they have made use of RFID tags dotted over a wide area as landmarks. Therefore, it is still difficult to use the technology at home. There is a model room in WABOT-HOUSE Laboratory of Waseda University where the floor is equipped with a lattice of RFID tags at 300 mm intervals, simulating a future home environment where robots interact symbiotically with humans. We speculate that such an environment, where the tags are distributed at regular intervals, is one of the most probable infrastructures of the near future and propose a method that use Monte Carlo localization to estimate the pose of robot on the lattice. Our experiments show that robots can localize their position more precisely than the interval of tags and also estimate their orientation successfully by using the proposed method when two readers are placed in appropriate positions.
Starting Page	1385
Ending Page	1390
File Size	1392298
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651176
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Radiofrequency identification Integrated circuits Robot kinematics Robot sensing systems Distance measurement Service robots
Content Type	Text
Resource Type	Article

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