D. Hähnel, W. Burgard, D. Fox, K. Fishkin, and
M. Philipose.
Mapping and Localization
with RFID Technology
Proc. of the IEEE International Conference on
Robotics and Automation (ICRA), 2004.
Abstract
In this paper we analyze whether recent Radio Frequency
Identification (RFID) technology can be used to improve the
localization of mobile robots and persons in their environment. In
particular we study the problem of localizing RFID tags with a mobile
platform that is equipped with a pair of RFID antennas. We present a
probabilistic measurement model for RFID readers that allow us to
accurately localize RFID tags in the environment. We also demonstrate
how such maps can be used to localize a robot and persons in their
environment. Finally, we present experiments illustrating that the
computational requirements for global localization can be seriously
reduced by fusing RFID information with laser data.