Combination of RFID and Vision for Mobile Robot Localization

Abstract

This paper illustrates an efficient method for global localization incorporating signal detection from artificial landmark consisted of RFID tags, and for fine localization incorporating feature descriptor derived from a view of scene. The system incorporates a RFID reader on a mobile robot checking the signal from RFID tags to localize the robot with respect to global position. After determining the global position of the robot, the feature matching can be used to checking the local position of it in a predetermined global position. And we propose a successive global-to-fine localization algorithm using RFID tags andfeature matching respectively. The experimental results showed the proposed algorithm has improved the localization performance on indoor environments with a mobile robot.