This paper presents a framework that enables the interaction of robotic systems and wireless sensor network technologies for discovering, localizing and recognizing a number of smart objects (SO) placed in an unknown environment. Starting with no a priori knowledge of the environment, the robot will progressively build a virtual reconstruction of the surroundings in three phases: first, it discovers the SOs located in the area by using radio communication; second, it performs a rough localization of the SOs by using a range-only SLAM algorithm based on the RSSI-range measurements; third, it refines the SOs localization by comparing the descriptors extracted from the images acquired by the onboard camera with those transmitted by the motes attached to the SOs. Experimental results show how the combined use of the RSSI data and of the image features allows to discover and localize the SOs located in the environment with a good accuracy.

Autonomous discovery, localization and recognition of smart objects through WSN and image features

MENEGATTI, EMANUELE;DANIELETTO, MATTEO;MINA, MARCO;PRETTO, ALBERTO;ZANUTTIGH, PIETRO;ZANELLA, ANDREA
2010

Abstract

This paper presents a framework that enables the interaction of robotic systems and wireless sensor network technologies for discovering, localizing and recognizing a number of smart objects (SO) placed in an unknown environment. Starting with no a priori knowledge of the environment, the robot will progressively build a virtual reconstruction of the surroundings in three phases: first, it discovers the SOs located in the area by using radio communication; second, it performs a rough localization of the SOs by using a range-only SLAM algorithm based on the RSSI-range measurements; third, it refines the SOs localization by comparing the descriptors extracted from the images acquired by the onboard camera with those transmitted by the motes attached to the SOs. Experimental results show how the combined use of the RSSI data and of the image features allows to discover and localize the SOs located in the environment with a good accuracy.
Proc. of 2010 IEEE Globecom Workshops
9781424488650
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/2487300
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