Position tracking and recognition of everyday objects by using sensors embedded in an environment and mounted on mobile robots

Kouji Murakami, Kazuya Matsuo, Tsutomu Hasegawa, Ryo Kurazume

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

8 被引用数 (Scopus)

抄録

This paper describes an object tracking system for a robot working in an everyday environment, which tracks and recognizes everyday objects. Passive RFID (Radio Frequency IDentification) tags are attached to the objects for object recognition. The system consists of static sensors embedded in the environment and mobile sensors mounted on mobile robots. By utilizing the different characteristics and advantages of these sensors, the system achieves good performance in an everyday environment. Although the tag ID and the position of an object carried by a person is not measurable by static sensors or by mobile sensors, the system can estimate them by using an SIR (Sequential importance resampling) particle filter that integrates the data obtained by the static sensors and the mobile sensors. In the experiment, the system successfully tracked 20 objects, some of which were held by a person.

本文言語英語
ホスト出版物のタイトル2012 IEEE International Conference on Robotics and Automation, ICRA 2012
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2210-2216
ページ数7
ISBN(印刷版)9781467314039
DOI
出版ステータス出版済み - 2012
イベント 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, 米国
継続期間: 5 14 20125 18 2012

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country米国
CitySaint Paul, MN
Period5/14/125/18/12

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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