Localization of Moving Objects Based on RFID Tag Array and Laser Ranging Information

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.