ICRA 2012 Paper Abstract


Paper WeA110.3

Murakami, Kouji (Kyushu Sangyo University), Matsuo, Kazuya (RIKEN), Hasegawa, Tsutomu (Kyushu University), Kurazume, Ryo (Kyushu University)

Position Tracking and Recognition of Everyday Objects by Using Sensors Embedded in an Environment and Mounted on Mobile Robots

Scheduled for presentation during the Interactive Session "Interactive Session WeA-1" (WeA110), Wednesday, May 16, 2012, 08:30−09:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 19, 2018

Keywords Sensor Networks, Sensor Fusion, Service Robots


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 (Sampling 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.



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