object localization using rfid

IEEE International Symposium on Wireless Pervasive Computing

Object Localization Using RFID

Kirti Chawla, Gabriel Robins, and Liuyi Zhang

Department of Computer Science

University of Virginia, Charlottesville, USA

{kirti, robins, lz3m}@virginia.edu

Palazzo Ducale, Modena, Italy, May 5-7, 2010This work is supported by U.S. National Science Foundation

(NSF) grant: CNS-0716635 (PI: Prof. Gabriel Robins)For more details, visit: www.cs.virginia.edu\robins

Kirti Chawla, Gabriel Robins, and Liuyi Zhang 2

AnalysisFuture

Directions

Proposed Approach

RFIDLocalization

Overview: Application Scenarios


RFIDLocalization

Spatio-temporal Inferences

Fine-grained Object Lookup

Smart Ambience

Novel Environments

Overview: RFID Localization


RFID Localization

Reader Localization Tag Localization

Stationary Reader Localization

Mobile Reader Localization

Stationary Tag Localization

Mobile Tag Localization

Overview: Contentious Issues


RFID Localization Issues

Ambient Interference

Occlusions

Reader Location

Tag Orientation

Tag Spatiality

Tag Sensitivity

Proposed Approach: Underlying Principles


Power Distance Relationship

PT

PR

D2

R R TT 2

P G GP

4 D

Proposed Approach: Basic Concept


Calibrated Tags Power-Distance Relationship

Tag Placement Schemes

Localization Algorithms

Localization Coarse-grained Location Estimate

Fine-grained Location Estimate

Error Reduction Heuristics

Localization Framework

Proposed Approach: Algorithm I


Start

Algorithm I

For each Tag T

Linear Search for PLO of T

Report PLO

Stop

PLO FOUND ?

YESNO

YES

NO

PLC > Threshold

?

Time Complexity: O(NP)

Proposed Approach: Algorithm II


Time Complexity: O(NlogP) Start

Algorithm II

For each Tag T

Binary Search for PLO of T

Report PLO

Stop

PLO FOUND ?

YESNO

YES

NO

PLC > Threshold

?

Proposed Approach: Algorithm III


Start

Algorithm III

Initialize PL of all tags to MAX_POWER_LEVEL

Linearly increment PL for all tags

Stop

PL = 0 ?

PL of tag “fixed” ?

YESNO

YES

NO

Tag has OPT PL

Time Complexity: O(P)

Proposed Approach: Localization Error


Source of Localization Error

Radio Wave

Target Tag

Reference TagAntenna

RFID Reader

Proposed Approach: Heuristics I


Heuristics: Absolute Difference

M

1 I JJ

I=1

M M

2 I J I KJ,K

I=1 I=1J K

M M

3 I J I KJ,K

I=1 I=1J K

J,K are neighbors

M M M M

4 I J I K I J I KJ,K

I=1 I=1 I=1 I=1J K

J,K are neighbors

H :Min ( (R ))

H :Min ( (R )+ (R ))

H :Min ( (R )+ (R ))

H :Min ( (R )+ (R )); (R )< (R )

Proposed Approach: Heuristics II


Heuristics: Minimum Power Reader Selection

5 J K J S K QJ,K,S,Q S,J Q,K

J KS Q

6 J K J S K QJ,K,S,Q S,J Q,KJ KS Q

S,Q are neighbors

H : Min ( (T)+ (T));Min ( (R )),Min ( (R ))

H : Min ( (T)+ (T));Min ( (R )),Min ( (R ))

Proposed Approach: Heuristics III


Heuristics: Root Sum Square Absolute Difference

M2

7 I JJI=1

M M2 2

8 I J I KJ,KI=1 I=1J K

M M2 2

9 I J I KJ,KI=1 I=1J K

J,K are neighbors

M M M M2 2 2 2

10 I J I K I J I KJ,KI=1 I=1 I=1 I=1J K

J,K are neigh

H :Min ( (R ) )

H :Min ( (R ) + (R ) )

H :Min ( (R ) + (R ) )

H :Min ( (R ) + (R ) ); (R ) < (R )

bors

Proposed Approach: Meta-Heuristic


Heuristics Architecture

Localization Error

Heuristics: Root Sum Square Absolute Difference

Meta-Heuristic

Heuristics: Minimum Power Reader Selection

Heuristics: Absolute Difference

Other Novel Heuristics

LLH : Min(H )

Experimental Setup


1

Linear Antenna

Region Area: 6 m2

32 Reference Tags

Room Volume: 41 m3

S

Q

Data Logging Backend RFID Reader

Results: Tag Sensitivity I


15129630-3-6

100

75

50

25

014.412.09.67.24.82.40.0

48

36

24

12

0

14.412.09.67.24.82.40.0

60

45

30

15

0

25.6 dBm

Cumulative Read Count

Num

ber o

f Tag

s

28.6 dBm

31.6 dBm

Mean 4.263StDev 4.548N 243

25.6 dBm

Mean 8.979StDev 2.931

N 243

28.6 dBm

Mean 9.251StDev 2.733

N 243

31.6 dBm

Constant Distance Variable Power

Results: Tag Sensitivity II


14121086420

80

60

40

20

014.412.09.67.24.82.40.0

40

30

20

10

0

129630-3-6

120

90

60

30

0

1.27 Meters

Cumulative Read Count

Num

ber o

f Tag

s

2.54 Meters

3.81 Meters

Mean 9.303StDev 2.742N 243

1.27 Meters

Mean 8.460StDev 3.284N 243

2.54 Meters

Mean 3.505StDev 4.240N 243

3.81 Meters

Variable Distance Constant Power

Results: Localization Speed


87654321

25

20

15

10

5

0

Stationary Object Random Location

Tim

e (S

econ

ds)

Alg-III-Ant-II-HTL

Alg-I-Ant-I-HTLAlg-I-Ant-II-HTLAlg-I-Ant-I-LTHAlg-I-Ant-II-LTHAlg-II-Ant-I-HTLAlg-II-Ant-II-HTLAlg-II-Ant-I-LTHAlg-II-Ant-II-LTH

Alg-III-Ant-I-HTL

Variable

Localization Speed

1.00.50.250.125

30.0

27.5

25.0

22.5

20.0

17.5

15.0

Power-step (dBm)

Pow

er-le

vel (

dBm

)

Alg-III-Ant-II-HTL

Alg-I-Ant-I-HTLAlg-I-Ant-II-HTL

Alg-I-Ant-I-LTHAlg-I-Ant-II-LTHAlg-II-Ant-I-HTLAlg-II-Ant-II-HTLAlg-II-Ant-I-LTHAlg-II-Ant-II-LTHAlg-III-Ant-I-HTL

Variable

Localization Accuracy

Results: Localization Accuracy


Results: Localization Visualization


Heuristics

Accuracy

Work Area

Antenna Control

Comparative Analysis


Speed / Accuracy Comparison

Technique Average Time (min) Test Area(m2)

Error(m)Setup

StageLocalization

Stage

Ni et al [10] NR NR NR ~2

Alippi et al [1] NR NR 20 0.68

Joho et al [8] ~27 NR NR 0.375

Zhou et al [16] NR NR NR 0.19

Bechteler et al [2] NR NR NR 0.2

Wang et al [15] NR NR NR 0.1 – 0.9

Bekkali et al [3] NR NR 9 0.5 – 1.0

Proposed Approach (I, II, III)

19.3, 14.7, 3.6

0.72, 0.48, 0.91 6 0.08 – 0.31

Avg. Localization Error = 0.15 m Localization Time = 0.43 min.

Future Directions


Open Research Problems

Reduce Average Localization Time

Improve Localization Accuracy

Testing in Different Scenarios

Novel Applications

References

• C. Alippi, D. Cogliati, and G. Vanini, “A Statistical Approach to Localize Passive RFIDs”, IEEE International Symposium on Circuits and Systems (ISCAS 2006), Island of Kos, Greece, Sep. 2006, pp. 843-846.

• T. F. Bechteler and H. Yenigun, “2-D Localization and Identification Based on SAW ID-Tags at 2.5 GHz”, IEEE Transactions on Microwave Theory and Techniques, IEEE Press, Vol. 7, Issue. 2, May 2003, pp. 1584-1590.

• A. Bekkali, H. Sanson, and M. Matsumoto, “RFID Indoor Positioning based on Probabilistic RFID Map and Kalman Filtering”, 3rd International Conference on Wireless and Mobile Computing, Networking and Communications (WiMOB 2007), New York, Oct. 2007, pp. 21-21.

• L. Bolotnyy and G. Robins, “The Case for Multi-Tag RFID Systems”, IEEE International Conference on Wireless Algorithms, Systems and Applications (WASA 2007), Chicago, Aug. 2007, pp. 174-186.

• L. Bolotnyy and G. Robins, “Multi-tag RFID systems”, Security in RFID and Sensor Networks, Auerbach Publications, CRC Press, Taylor & Francis Group, 2009, pp. 3-28.

• M. Bouet and A. Santos, “RFID Tags–Positioning Principles and Localization Techniques”, IFIP Wireless Days – 2nd International Home Networking Conference (IHN 2008), Dubai, UAE, Nov. 2008.

• L. Jing and P. Yang, “A Localization Algorithm for Mobile Robots in RFID system”, IEEE International Conference on Wireless Communications, Networking and Mobile Computing (WICOM 2007), Shanghai, China, Sep. 2007, pp. 2109-2112.


References

• D. Joho, C. Plagemann, and W. Burgard, “Modeling RFID Signal Strength and Tag Detection for Localization and Mapping”, IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, May 2009, pp. 3160-3165.

• X. Liu, M. Corner, and P. Shenoy, “Ferret: RFID Localization for Pervasive Multimedia”, Lecture Notes in Computer Science, Berlin, Germany, Springer Press, Sep. 2006, Vol. 4206/2006, pp. 422-440.

• L. Ni, Y. Liu, Y. Lau, and A. Patil, “LANDMARC: Indoor Location Sensing Using Active RFID”, 1st International Conference on Pervasive Computing (PerCom 2003), Arlington, Texas, Dec. 2003, pp. 407-415.

• D. Papadogkonas, G. Roussos, and M. Levene. “Discovery and Ranking of Significant Trails”, 2nd International. Workshop on Exploiting Context History in Smart Environments (ECHISE 2006), Irvine, CA, Sep. 2006.

• T. Sanpechuda and L. Kovavisaruch, “A Review of RFID Localization: Applications and Techniques”, 5th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON 2008), Krabi, Thailand, Vol. 2, May 2008, pp. 769-772.

• P. J. Sweeney, “RFID for Dummies”, Wiley Publishing, New Jersey, 2005.

• T. Wada, N. Uchitomi, Y. Ota, T. Hori, K. Mutsuura, and H. Okada, “A Novel Scheme for Spatial Localization of Passive RFID Tags; Communication Range Recognition (CRR) Scheme”, IEEE International Conference on Communications (ICC 2009), Dresden, Germany, IEEE Press, Jun. 2009, pp. 1-6.


References

• C. Wang, H. Wu, and N. Tzeng, “RFID-Based 3-D Positioning Schemes”, IEEE International Conference on Computer Communications (INFOCOM 2007), Alaska, May 2007, pp. 1235-1243.

• J. Zhou and J. Shi, “RFID Localization Algorithms and Applications—a Review”, Journal of International Manufacturing, Netherlands, Springer Press, Aug. 2008, pp. 695-707.


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