Abstract
RFID (radio-frequency identification) technology is rapidly emerging for the localization of moving objects and humans. Due to the blockage of radio signals by the human body, the localization accuracy achieved with a single tag is not satisfactory. This paper proposes a method based on an RFID tag array and laser ranging information to address the localization of live moving objects such as humans or animals. We equipped a human with a tag array and calculated the phase-based radial velocity of every tag. The laser information was, first, clustered through the DBSCAN (Density-Based Spatial Clustering of Applications with Noise) algorithm and then laser-based radial velocity was calculated. This velocity was matched with phase-based radial velocity to get best matching clusters. A particle filter was used to localize the moving human by fusing the matching results of both velocities. Experiments were conducted by using a SCITOS G5 service robot. The results verified the feasibility of our approach and proved that our approach significantly increases localization accuracy by up to 25% compared to a single tag approach.
Highlights
In the last few years, there has been significant research in the area of tracking, navigation, and localization of objects in different environments
Outdoor localization is easy to manage with the help of GPS, while, indoor localization has a lot of challenges like environmental factors that can greatly affect sensor feedback, which decreases the localization accuracy
radio-frequency identification (RFID) tags are small in size and weigh very little [17] so it is easy to attach an RFID tag array on clothes or belts
Summary
In the last few years, there has been significant research in the area of tracking, navigation, and localization of objects in different environments. Researchers have developed different localization methods to estimate the distance of the objects by using RSS and phase information. RFID tags are small in size and weigh very little [17] so it is easy to attach an RFID tag array on clothes or belts This approach has an ease of use as the implementation of this approach does not need any training or reference tags and it does not require any complex setup of antennas. This approach significantly increases the performance of the indoor localization of moving objects and allows the objects to move freely in the environment.
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