ROS-based object localization using RFID and laser scan

Abstract

Object localization is a key issue of autonomous robots. RFID as a low cost, easy and effective technology has been widely used in localization and tracking situation. In this paper the ROS-based Simultaneous Localization and Mapping (SLAM) combined with Radio Frequency Identification (RFID) is used for a coarse position by our robot called RCT-M. Then with the RFID tag information, we could query the object information in the object database. Finally, with the object information we utilize suitable laser feature detection to localize an object for a precise position. Some factors associated with RFID reader and RFID tags that can affect the object localization are also discussed.