SLAM Algorithm for 2D Object Trajectory Tracking based on RFID Passive Tags

Abstract

Tracking the physical location of nodes in a 2D environment is critical in many applications such as camera tracking in virtual studio, indoor mobile objects tracking. RFID technique poses an interesting solution to localizing the nodes because the passive RFID tags could store the position unit information according to unique tag ID. Based on tags pattern, algebraic approach could solve the 2D trajectory tracking problem. However, the tracking accuracy of this approach is highly related to the tags position distribution and position unit. It would be inaccurate for some erratic trajectory tracking. Thus, we would try to apply and evaluate the probabilistic approaches, such as SLAM (Simultaneous Localization and Mapping), into RFID tag based trajectory tracking. In this paper, we propose an RFID tag based SLAM algorithm for 2D trajectory tracking. Also a technique called Map adjustment is proposed to increase the efficiency of the algorithm. The simulation results show that the approach could improve the accuracy for some parts of trajectory tracking compared to RFID algebraic approach. The limitation and future work are given in the conclusion.