Moving Object Localization Based on UHF RFID Phase and Laser Clustering
AbstractRFID (Radio Frequency Identification) offers a way to identify objects without any contact. However, positioning accuracy is limited since RFID neither provides distance nor bearing information about the tag. This paper proposes a new and innovative approach for the localization of moving object using a particle filter by incorporating RFID phase and laser-based clustering from 2d laser range data. First of all, we calculate phase-based velocity of the moving object based on RFID phase difference. Meanwhile, we separate laser range data into different clusters, and compute the distance-based velocity and moving direction of these clusters. We then compute and analyze the similarity between two velocities, and select K clusters having the best similarity score. We predict the particles according to the velocity and moving direction of laser clusters. Finally, we update the weights of the particles based on K clusters and achieve the localization of moving objects. The feasibility of this approach is validated on a Scitos G5 service robot and the results prove that we have successfully achieved a localization accuracy up to 0.25 m. View Full-Text
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Fu, Y.; Wang, C.; Liu, R.; Liang, G.; Zhang, H.; Ur Rehman, S. Moving Object Localization Based on UHF RFID Phase and Laser Clustering. Sensors 2018, 18, 825.
Fu Y, Wang C, Liu R, Liang G, Zhang H, Ur Rehman S. Moving Object Localization Based on UHF RFID Phase and Laser Clustering. Sensors. 2018; 18(3):825.Chicago/Turabian Style
Fu, Yulu; Wang, Changlong; Liu, Ran; Liang, Gaoli; Zhang, Hua; Ur Rehman, Shafiq. 2018. "Moving Object Localization Based on UHF RFID Phase and Laser Clustering." Sensors 18, no. 3: 825.
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