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Sensors 2018, 18(3), 825; doi:10.3390/s18030825

Moving Object Localization Based on UHF RFID Phase and Laser Clustering

School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China
Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore
Department of Computer Science, Lasbela University of Agriculture, Water and Marine Sciences, Balochistan 90150, Pakistan
Author to whom correspondence should be addressed.
Received: 16 January 2018 / Revised: 2 March 2018 / Accepted: 6 March 2018 / Published: 9 March 2018
(This article belongs to the Special Issue RFID-Based Sensors for IoT Applications)
View Full-Text   |   Download PDF [2396 KB, uploaded 12 March 2018]   |  


RFID (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
Keywords: RFID; phase difference; laser clustering; velocity matching; particle filter RFID; phase difference; laser clustering; velocity matching; particle filter

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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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.

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