A Comparison of Similarity Measures for Localization with Passive RFID Fingerprints

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 8Sprache: EnglischTyp: PDF

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Vorst, Philipp; Zell, Andreas (Computer Science Department, University of Tübingen, Germany)

We present a novel approach to self-localization with passive RFID fingerprints using vector space similarity measures and weighted k-nearest neighbors (WKNN). Embedded in a particle filter, our technique provides robust and accurate position estimates. This is shown through various experiments with a mobile robot. The formulation of the observation model guarantees applicability to any type of off-the-shelf RFID reader which counts RFID tag detections. Different similarity measures are investigated, and a new measure is proposed.