Title :
Pose estimation of a mobile robot on a lattice of RFID tags
Author :
Kodaka, Kenri ; Niwa, Haruhiko ; Sakamoto, Yoshihiro ; Otake, Masaumi ; Kanemori, Yuki ; Sugano, Shigeki
Author_Institution :
Wabot-House Lab., Waseda Univ., Tokyo
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.
Keywords :
Monte Carlo methods; human-robot interaction; mobile robots; pose estimation; radiofrequency identification; robot vision; Monte Carlo localization; RFID tag; human-robot interaction; mobile robot; passive tag; pose estimation; radio frequency identification; Distance measurement; Integrated circuits; Radiofrequency identification; Robot kinematics; Robot sensing systems; Robots; Service robots;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651176