RFID Based Object Localization System Using Ceiling Cameras with Particle Filter

In this paper, we propose an object localization method for home environments. This method utilizes RFID equipments, a mobile robot and some ceiling cameras. The RFID system estimates a rough position of each object. The autonomous robot with RFID antennas explores the environment so as to detect other objects on the floor. Each object that is attached an RFID tag, is then recognized by utilizing its feature information stored in this tag. Finally, the precise localization of each object is achieved by the ceiling cameras with particle filters. The accuracy and the robustness of the proposed method are verified through an experiment.