Localization of Mobile Robot with RFID Technology and Stereo Vision

摘要

In this paper, a novel method of localization of mobile robot using RFID (radio frequency identification) technology and stereo vision is proposed as it is inexpensive, flexible and easy to use in practical environment. The proposed method is also helpful to improve dynamic obstacles recognition (such as person) and occlusion problem that are very difficult to solve. This is because the communication between ID reader and ID tags uses radio frequency. Because the radio frequency is not so stable, we can not know the accurate position of obstacle objects with ID even if tag reader detects the tag. In order to localize the ID tags, the Bayes rule was used to calculate probability where the ID tag exists after the tag reader detects a tag. This paper presents the proposed method and some experimental results