research-article

SILoc: A Speed Inconsistency-Immune Approach to Mobile RFID Robot Localization

Authors:

Keqiu LiAuthors Info & Claims

IEEE INFOCOM 2021 - IEEE Conference on Computer Communications

Pages 1 - 10

https://doi.org/10.1109/INFOCOM42981.2021.9488718

Published: 10 May 2021 Publication History

Abstract

Mobile RFID robots have been increasingly used in warehousing and intelligent manufacturing scenarios to pinpoint the locations of tagged objects. The accuracy of state-of-the-art RFID robot localization systems depends much on the stability of robot moving speed. However, in reality this assumption can hardly be guaranteed because a Commercial-Off-The-Shelf (COTS) robot typically has an inconsistent moving speed, and a small speed inconsistency will cause a large localization error. To this end, we propose a Speed Inconsistency-Immune approach to mobile RFID robot Localization (SILoc) system, which can accurately locate RFID tagged targets when the robot moving speed varies or is even unknown. SILoc employs multiple antennas fixed on the mobile robot to collect the phase data of target tags. We propose an optimized unwrapping method to maximize the use of the phase data, and a lightweight algorithm to calculate the locations in both 2D and 3D spaces based on the unwrapped phase profile. By utilizing the characteristics of tag-antenna distance and combining the phase data from multiple antennas, SILoc can effectively eliminate the side effects of moving speed inconsistency. Extensive experimental results demonstrate that SILoc can achieve a centimeter-level localization accuracy in the scenario with an inconsistent or unknown robot moving speed.

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Cited By

Wu YChen SMeng XTong XLiu XXie XQu WOkoshi TKo JLiKamWa R(2024)Enabling 6D Pose Tracking on Your Acoustic DevicesProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661875(15-28)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661875
Bae KMoon HKim SOkoshi TKo JLiKamWa R(2024)SuperSight: Sub-cm NLOS Localization for mmWave BackscatterProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661857(278-291)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661857
Bae KMoon HSohn SKim SHui PAmiri Sani ANurmi PLiu Y(2023)Hawkeye: Hectometer-range Subcentimeter Localization for Large-scale mmWave BackscatterProceedings of the 21st Annual International Conference on Mobile Systems, Applications and Services10.1145/3581791.3596869(303-316)Online publication date: 18-Jun-2023
https://dl.acm.org/doi/10.1145/3581791.3596869
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Index Terms

SILoc: A Speed Inconsistency-Immune Approach to Mobile RFID Robot Localization
1. Computer systems organization
  1. Embedded and cyber-physical systems

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IEEE INFOCOM 2021 - IEEE Conference on Computer Communications

May 2021

2503 pages

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IEEE Press

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Published: 10 May 2021

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Cited By

Wu YChen SMeng XTong XLiu XXie XQu WOkoshi TKo JLiKamWa R(2024)Enabling 6D Pose Tracking on Your Acoustic DevicesProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661875(15-28)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661875
Bae KMoon HKim SOkoshi TKo JLiKamWa R(2024)SuperSight: Sub-cm NLOS Localization for mmWave BackscatterProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661857(278-291)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661857
Bae KMoon HSohn SKim SHui PAmiri Sani ANurmi PLiu Y(2023)Hawkeye: Hectometer-range Subcentimeter Localization for Large-scale mmWave BackscatterProceedings of the 21st Annual International Conference on Mobile Systems, Applications and Services10.1145/3581791.3596869(303-316)Online publication date: 18-Jun-2023
https://dl.acm.org/doi/10.1145/3581791.3596869
Xie DWang XTang ABulusu NAryafar EBalasubramanian ASong J(2022)MetaSightProceedings of the 20th Annual International Conference on Mobile Systems, Applications and Services10.1145/3498361.3538947(504-516)Online publication date: 27-Jun-2022
https://dl.acm.org/doi/10.1145/3498361.3538947

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