Camera-assisted localization of passive RFID labels

For indoor localization systems, Radio Frequency Identification (RFID) is an often chosen technique. A passive UHF RFID label can be localized via Received Signal Strength Indicator (RSSI) values using a Constrained Unscented Kalman Filter (CUKF). A camera-based localization technique which employs back projection method and movement estimation is combined with the RFID-based localization. This camera-assisted localization technique leads to an increase in localization accuracy by a factor of two compared to the Constrained Unscented Kalman Filter without camera assistance which already performes twice as good as the Unscented Kalman Filter (UKF).