Model-based recognition in robot vision
ACM Computing Surveys (CSUR)
Synthetic aperture radar
On the Verification of Hypthesized Matches in Model-Based Recognition
ECCV '90 Proceedings of the First European Conference on Computer Vision
Tracking moving devices with the cricket location system
Proceedings of the 2nd international conference on Mobile systems, applications, and services
Convex Optimization
LANDMARC: indoor location sensing using active RFID
Wireless Networks - Special issue: Pervasive computing and communications
Improved complexity results on solving real-number linear feasibility problems
Mathematical Programming: Series A and B
ACM Computing Surveys (CSUR)
Object recognition and full pose registration from a single image for robotic manipulation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Indoor localization without the pain
Proceedings of the sixteenth annual international conference on Mobile computing and networking
The Internet of Things: A survey
Computer Networks: The International Journal of Computer and Telecommunications Networking
Kinsight: Localizing and Tracking Household Objects Using Depth-Camera Sensors
DCOSS '12 Proceedings of the 2012 IEEE 8th International Conference on Distributed Computing in Sensor Systems
Efficient and reliable low-power backscatter networks
Proceedings of the ACM SIGCOMM 2012 conference on Applications, technologies, architectures, and protocols for computer communication
Zee: zero-effort crowdsourcing for indoor localization
Proceedings of the 18th annual international conference on Mobile computing and networking
ArrayTrack: a fine-grained indoor location system
nsdi'13 Proceedings of the 10th USENIX conference on Networked Systems Design and Implementation
PinPoint: localizing interfering radios
nsdi'13 Proceedings of the 10th USENIX conference on Networked Systems Design and Implementation
Dude, where's my card?: RFID positioning that works with multipath and non-line of sight
Proceedings of the ACM SIGCOMM 2013 conference on SIGCOMM
Proceedings of the ACM SIGCOMM 2013 conference on SIGCOMM
A Hand-Centric Classification of Human and Robot Dexterous Manipulation
IEEE Transactions on Haptics
3D tracking via body radio reflections
NSDI'14 Proceedings of the 11th USENIX Conference on Networked Systems Design and Implementation
Hi-index | 0.00 |
Modern robots have to interact with their environment, search for objects, and move them around. Yet, for a robot to pick up an object, it needs to identify the object's orientation and locate it to within centimeter-scale accuracy. Existing systems that provide such information are either very expensive (e.g., the VICON motion capture system valued at hundreds of thousands of dollars) and/or suffer from occlusion and narrow field of view (e.g., computer vision approaches). This paper presents RF-Compass, an RFID-based system for robot navigation and object manipulation. RFIDs are low-cost and work in non-line-of-sight scenarios, allowing them to address the limitations of existing solutions. Given an RFID-tagged object, RF-Compass accurately navigates a robot equipped with RFIDs toward the object. Further, it locates the center of the object to within a few centimeters and identifies its orientation so that the robot may pick it up. RF-Compass's key innovation is an iterative algorithm formulated as a convex optimization problem. The algorithm uses the RFID signals to partition the space and keeps refining the partitions based on the robot's consecutive moves.We have implemented RF-Compass using USRP software radios and evaluated it with commercial RFIDs and a KUKA youBot robot. For the task of furniture assembly, RF-Compass can locate furniture parts to a median of 1.28 cm, and identify their orientation to a median of 3.3 degrees.