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

Kenri Kodaka, Haruhiko Niwa, Yoshihiro Sakamoto, Masaumi Otake, Yuki Kanemori, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    27 Citations (Scopus)

    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 300mm 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.

    Original languageEnglish
    Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    Pages1385-1390
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice
    Duration: 2008 Sep 222008 Sep 26

    Other

    Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    CityNice
    Period08/9/2208/9/26

    Fingerprint

    Radio frequency identification (RFID)
    Mobile robots
    Robots
    Lighting
    Cameras
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Kodaka, K., Niwa, H., Sakamoto, Y., Otake, M., Kanemori, Y., & Sugano, S. (2008). Pose estimation of a mobile robot on a lattice of RFID tags. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1385-1390). [4651176] https://doi.org/10.1109/IROS.2008.4651176

    Pose estimation of a mobile robot on a lattice of RFID tags. / Kodaka, Kenri; Niwa, Haruhiko; Sakamoto, Yoshihiro; Otake, Masaumi; Kanemori, Yuki; Sugano, Shigeki.

    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 1385-1390 4651176.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Kodaka, K, Niwa, H, Sakamoto, Y, Otake, M, Kanemori, Y & Sugano, S 2008, Pose estimation of a mobile robot on a lattice of RFID tags. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4651176, pp. 1385-1390, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, 08/9/22. https://doi.org/10.1109/IROS.2008.4651176
    Kodaka K, Niwa H, Sakamoto Y, Otake M, Kanemori Y, Sugano S. Pose estimation of a mobile robot on a lattice of RFID tags. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 1385-1390. 4651176 https://doi.org/10.1109/IROS.2008.4651176
    Kodaka, Kenri ; Niwa, Haruhiko ; Sakamoto, Yoshihiro ; Otake, Masaumi ; Kanemori, Yuki ; Sugano, Shigeki. / Pose estimation of a mobile robot on a lattice of RFID tags. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. pp. 1385-1390
    @inproceedings{8ff64fcad7c34b559b06fcae42795c46,
    title = "Pose estimation of a mobile robot on a lattice of RFID tags",
    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 300mm 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.",
    author = "Kenri Kodaka and Haruhiko Niwa and Yoshihiro Sakamoto and Masaumi Otake and Yuki Kanemori and Shigeki Sugano",
    year = "2008",
    doi = "10.1109/IROS.2008.4651176",
    language = "English",
    isbn = "9781424420582",
    pages = "1385--1390",
    booktitle = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

    }

    TY - GEN

    T1 - Pose estimation of a mobile robot on a lattice of RFID tags

    AU - Kodaka, Kenri

    AU - Niwa, Haruhiko

    AU - Sakamoto, Yoshihiro

    AU - Otake, Masaumi

    AU - Kanemori, Yuki

    AU - Sugano, Shigeki

    PY - 2008

    Y1 - 2008

    N2 - 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 300mm 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.

    AB - 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 300mm 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.

    UR - http://www.scopus.com/inward/record.url?scp=69549135658&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=69549135658&partnerID=8YFLogxK

    U2 - 10.1109/IROS.2008.4651176

    DO - 10.1109/IROS.2008.4651176

    M3 - Conference contribution

    AN - SCOPUS:69549135658

    SN - 9781424420582

    SP - 1385

    EP - 1390

    BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

    ER -