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Semi-Autonomous Learning of an RFID Sensor Model for Mobile Robot Self-localization

, and . European Robotics Symposium 2008, volume 44/2008 of Springer Tracts in Advanced Robotics, page 273-282. Springer Berlin / Heidelberg, (February 2008)

Abstract

In this paper, we present a method of learning a probabilistic RFID reader model with a mobile robot in a semi-automatic fashion. RFID and position data, recorded during an exploration phase, are used to learn the probability of detecting an RFID tag, for which we investigate two non-parametric probability density estimation techniques. The trained model is finally used to localize the robot via a particle filter-based approach and optimized with respect to the resulting localization error. Experiments have shown that the learned models perform comparably well as a grid-based model learned from measurements in a stationary setup, but can be obtained easier.

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