%0 Conference Paper %1 vorst2008sensor-model-learning %A Vorst, Philipp %A Zell, Andreas %B European Robotics Symposium 2008 %D 2008 %E Siciliano, Bruno %E Khatib, Oussama %E Groen, Frans %I Springer Berlin / Heidelberg %K rfid localization %P 273-282 %T Semi-Autonomous Learning of an RFID Sensor Model for Mobile Robot Self-localization %U http://dx.doi.org/10.1007/978-3-540-78317-6_28 %V 44/2008 %X 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.

@inproceedings{vorst2008sensor-model-learning, 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.}, added-at = {2010-07-01T15:54:12.000+0200}, author = {Vorst, Philipp and Zell, Andreas}, biburl = {https://www.bibsonomy.org/bibtex/2216b1766b01d3c88aef5990fb6dfce04/cscholz}, booktitle = {European Robotics Symposium 2008}, editor = {Siciliano, Bruno and Khatib, Oussama and Groen, Frans}, interhash = {ad911ce2bce94001d4f5601e98d499a0}, intrahash = {216b1766b01d3c88aef5990fb6dfce04}, keywords = {rfid localization}, month = {February}, pages = {273-282}, publisher = {Springer Berlin / Heidelberg}, series = {Springer Tracts in Advanced Robotics}, timestamp = {2010-10-20T12:45:34.000+0200}, title = {Semi-Autonomous Learning of an RFID Sensor Model for Mobile Robot Self-localization}, url = {http://dx.doi.org/10.1007/978-3-540-78317-6_28}, volume = {44/2008}, year = 2008 }