Abstract
An indoor simultaneous localization and mapping (SLAM) problem for a mobile robot using the Radio Frequency IDentification (RFID) technology is considered. The system consists of a reader, installed on the robot, which measures the phase shift of the UHF-RFID signals coming from a set of passive tags deployed on the ceiling of the environment. The position of the tags is unknown and only an approximate knowledge of the ceiling height is available at the beginning. A Rao-Blackwellized Particle Filtering approach is proposed to fuse the RFID measurements with the robot odometry and to determine both the robot pose and the tag coordinates. Simulative and experimental results are reported to illustrate the effectiveness of the proposed approach: the precision obtained is in the order of a few cm.
Similar content being viewed by others
References
Tesoriero, R., Gallud, J.A., Lozano, M.D., Penichet, V.M.R.: Tracking autonomous entities using RFID technology. IEEE Trans. Consum. Electron. 55(2), 650–655 (2009)
Boccadoro, M., Martinelli, F., Pagnottelli, S.: Constrained and quantized Kalman filtering for an RFID robot localization problem. Auton. Robot. 29(3-4), 235–251 (2010)
Choi, B.-S., Lee, J.-W., Lee, J.-J., Park, K.-T.: A hierarchical algorithm for indoor mobile robot localization using RFID sensor fusion. IEEE Trans. Ind. Electron. 58(6), 2226–2235 (2011)
Yang, P., Wu, W., Moniri, M., Chibelushi, C.C.: Efficient object localization using sparsely distributed passive RFID tags. IEEE Trans. Ind. Electron. 60(12), 5914–5924 (2013)
DiGiampaolo, E., Martinelli, F.: A passive UHF-RFID system for the localization of an indoor autonomous vehicle. IEEE Trans. Ind. Electron. 59(10), 3961–3970 (2012)
Bekkali, A., Sanson, H., Matsumoto, M.: RFID indoor positioning based on probabilistic RFID map and kalman filtering. In: Proc. of the 3rd IEEE international conference on wireless and mobile computing, networking and Comm., pp. 21–28 (2007)
Park, S., Lee, H.: Self-recognition of vehicle position using UHF passive RFID tags. IEEE Trans. Ind. Electron. 60(1), 226–234 (2013)
Saab, S.S., Nakad, Z.S.: A standalone RFID indoor positioning system using passive tags. IEEE Trans. Ind. Electron. 58(5), 1961–1970 (2011)
Koch, A., Zell, A.: RFID-enabled location fingerprinting based on similarity models from probabilistic similarity measures. In: IEEE international conference on robotics and automation (ICRA 2016), pp. 16–21, Stockholm, Sweden, May 16-21, (2016)
Sarkka, S., Viikari, V.V., Huusko, M., Jaakkola, K.: Phase-Based UHF RFID Tracking with nonlinear kalman filtering and smoothing. IEEE Sensors J. 12(5), 904–910 (2012)
Di Giampaolo, E., Martinelli, F.: Mobile robot localization using the phase of passive UHF-RFID signals. IEEE Trans. Ind. Electron. 61(1), 365–376 (2014)
Martinelli, F.: Robot localization using the phase of passive UHF-RFID signals under uncertain tag coordinates. J. Intell. Robot. Syst. 82(3), 577–93 (2016)
Martinelli, F.: A robot localization system combining RSSI and phase shift in UHF-RFID signals. IEEE Trans. Control Syst. Technol. 23(5), 1782–1796 (2015)
Hahnel, D., Burgard, W., Fox, D., Fishkin, K., Philipose, M.: Mapping and localization with RFID technology. In: IEEE international conference on robotics and automation (ICRA 2004), New Orleans, USA (2004)
Chen, J.-f., Wang, C.-C.: Simultaneous localization and mapping using a short-range passive RFID reader with sparse tags in large environments. In: 2010 IEEE workshop on advanced robotics and its social impacts (ARSO), pp. 136–141 (2010)
Errington, A.F.C., Daku, B.L.F., Prugger, A.: Initial position estimation using RFID tags: a Least-Squares approach. IEEE Trans. Instrum. Meas. 59(11), 2863–2869 (2010)
Vorst, P., Zell, A.: Fully autonomous trajectory estimation with Long-Range passive RFID. In: IEEE international conference on robotics and automation (ICRA 2010), Anchorage, Alaska (USA), May 3-8 (2010)
Djugash, J., Singh, S., Corke, P.I.: Further results with localization and mapping using range from radio. In: International conference on field and service robotics (FSR ’05) (2005)
Joho, D., Plagemann, C., Burgard, W.: Modeling RFID signal strength and tag detection for localization and mapping. In: IEEE international conference on robotics and automation (ICRA 2009), Kobe, Japan, May 12 - 17 (2009)
Forster, C., Sabatta, D., Siegwart, R., Scaramuzza, D.: RFID-based hybrid metric-topological SLAM for GPS-denied environments. IEEE international conference on robotics and automation (ICRA 2013), Karlsruhe, Germany, May 6-10 (2013)
Seco, F., Jimènez, A.R.: Autocalibration of a wireless positioning network with a fastSLAM algorithm. In: 8th international conference on indoor positioning and indoor navigation (IPIN 2017), Sapporo, Japan, September 18-21 (2017)
Wang, J., Takahashi, Y.: SLAM method based on independent particle filters for landmark mapping and localization for mobile robot based on HF-band RFID system. Journal of Intelligent & Robotic Systems (2017)
Blanco, J.-L., Gonzalez, J., Fernandez-Madrigal, J.-A.: A pure probabilistic approach to range-only SLAM. In: IEEE international conference on robotics and automation (ICRA 2008), pp. 1436–1441, Pasadena, May 19-23 (2008)
Blanco, J.-L., Fernandez-Madrigal, J.-A., Gonzalez, J.: Efficient probabilistic Range-Only SLAM. In: IEEE/RSJ international conference on intelligent robots and systems IROS 2008, pp. 1017–1022, Nice, September 22-26 (2008)
James, S., Verrinder, R.A., Sabatta, D., Shahdi, A.: Localisation and mapping in GPS-denied environments using RFID Tags. In: 5th robotics and mechatronics conference of South Africa (ROBMECH 2012), Johannesburg, South Africa, November 26-27 (2012)
Cook, G.: Mobile robots navigation, control and remote sensing. Wiley, Hoboken (2011)
Thrun, S., Burgard, W., Fox, D.: Probabilistic robotics. The MIT Press, Cambridge (2006)
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interests
The author declares that he has no conflict of interest. This research did not involve Human Participants nor Animals.
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Martinelli, F. Simultaneous Localization and Mapping Using the Phase of Passive UHF-RFID Signals. J Intell Robot Syst 94, 711–725 (2019). https://doi.org/10.1007/s10846-018-0903-8
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-018-0903-8