FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
A robust RFID-based method for precise indoor positioning
IEA/AIE'06 Proceedings of the 19th international conference on Advances in Applied Artificial Intelligence: industrial, Engineering and Other Applications of Applied Intelligent Systems
Exactly Sparse Delayed-State Filters for View-Based SLAM
IEEE Transactions on Robotics
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In this paper we present a novel approach to estimating the trajectory of a robot by means of inexpensive passive RFID tags and odometry in unknown environments. We show how trajectory estimation, a prerequisite of mapping RFID transponder positions without a reference positioning system, can be achieved using a particle filter. The presented technique is based on a non-parametric model of spatial relationships between RFID measurements. It overcomes the noisy nature of RFID measurements and the absence of distance and bearing information. The accuracy of our method is investigated in a series of experiments with a mobile robot.