COMPARING DETERMINIST AND PROBABILISTIC METHODS FOR RFID-BASED SELF-LOCALIZATION AND MAPPING

Younes Raoui, Michel Devy, El Houssine Bouyakhf, Fakhita Regragui

Abstract

This article deals with Simultaneous Localization andMapping for an indoor robot equipped with a camera and RFID antennas. RFID tags are sparsely disseminated in the environment. First RFID-based self-localization is considered; the robot position is predicted from odometry; it is corrected first by a sequential Monte-Carlo localization based on a particle filter. An active strategy built on the theoretical basis of information entropy is applied in order to improve the position accuracy. Then two methods for RFID-based mapping are described, considering the robot pose is given from natural visual landmarks learnt by a classical visual SLAM function.

References

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Paper Citation


in Harvard Style

Raoui Y., Devy M., Bouyakhf E. and Regragui F. (2011). COMPARING DETERMINIST AND PROBABILISTIC METHODS FOR RFID-BASED SELF-LOCALIZATION AND MAPPING . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 211-216. DOI: 10.5220/0003533802110216


in Bibtex Style

@conference{icinco11,
author={Younes Raoui and Michel Devy and El Houssine Bouyakhf and Fakhita Regragui},
title={COMPARING DETERMINIST AND PROBABILISTIC METHODS FOR RFID-BASED SELF-LOCALIZATION AND MAPPING},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={211-216},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003533802110216},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - COMPARING DETERMINIST AND PROBABILISTIC METHODS FOR RFID-BASED SELF-LOCALIZATION AND MAPPING
SN - 978-989-8425-75-1
AU - Raoui Y.
AU - Devy M.
AU - Bouyakhf E.
AU - Regragui F.
PY - 2011
SP - 211
EP - 216
DO - 10.5220/0003533802110216