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

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

*この研究の対応する著者

研究成果: Conference contribution

28 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ1385-1390
ページ数6
DOI
出版ステータスPublished - 2008 12月 1
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9月 222008 9月 26

出版物シリーズ

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

Conference

Conference2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
国/地域France
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学

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