research-article

A Passive Eye-in-Hand "Camera" for Miniature Robots

Authors: Meng Jin,

Xinde CaoAuthors Info & Claims

SenSys '22: Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems

Pages 740 - 753

https://doi.org/10.1145/3560905.3568505

Published: 24 January 2023 Publication History

Abstract

We in this paper present TiSee, an RFID-based sensing system that supports miniature robots to perform agile tasks in everyday environments. TiSee's unique capability is that it uses a single arbitrarily-deployed antenna to locate a target with sub-cm-level accuracy and identify its orientation to within few degrees. Compared with existing solutions which rely on either antenna arrays or multiple RFID readers, TiSee is cheap, compact, and applicable to miniature robots.

The idea of TiSee is to stick an RFID tag on the robot (or its gripper) and use it as a moving "antenna" to locate another tag (the target). The core of this design is a novel technique which can build a "channel" between two commercial RFID tags. Such an inter-tag channel is proved to be highly sensitive to the change in inter-tag distance and is resistant to multipath. By leveraging this channel and the mobility of the robot, we emulate an antenna array and use it for fine-grained localization and orientation estimation. Our experiments show that TiSee achieves a median accuracy of 9.5mm and 3.1° in 3D localization and orientation estimation. TiSee brings an eye-in-hand "camera" to miniature robots, supporting them to perform agile tasks in dark, cluttered, and occluded settings.

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Cited By

Jin MYao SLi KTian XWang XZhou CCao X(2024)Fine-Grained UHF RFID Localization for RoboticsIEEE/ACM Transactions on Networking10.1109/TNET.2024.345769632:6(5247-5262)Online publication date: Dec-2024
https://doi.org/10.1109/TNET.2024.3457696
Jin MLi KTian XWang XZhou C(2024)Graph Based RFID Grouping for Fast and Robust Inventory TrackingIEEE Transactions on Mobile Computing10.1109/TMC.2024.343943023:12(14201-14217)Online publication date: Dec-2024
https://doi.org/10.1109/TMC.2024.3439430
Jin MLi KTian XWang XZhou CCosta XAl Hassanieh HAsadi ACox LPerino DWidmer JGiustiniano D(2023)Fast, Fine-grained, and Robust Grouping of RFIDsProceedings of the 29th Annual International Conference on Mobile Computing and Networking10.1145/3570361.3592510(1-14)Online publication date: 2-Oct-2023
https://dl.acm.org/doi/10.1145/3570361.3592510
Show More Cited By

Index Terms

A Passive Eye-in-Hand "Camera" for Miniature Robots
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
    2. Sensor networks
2. Networks
  1. Network services
    1. Location based services

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cover image ACM Conferences

SenSys '22: Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems

November 2022

1280 pages

ISBN:9781450398862

DOI:10.1145/3560905

General Chairs:
Jeremy Gummeson
University of Massachusetts Amherst
,
Sunghoon Ivan Lee
University of Massachusetts Amherst
,
Program Chairs:
Jie Gao
Rutgers University
,
Guoliang Xing
The Chinese University of Hong Kong

Copyright © 2022 ACM.

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Published: 24 January 2023

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National Natural Science Fund of China
National Key R&D Program of China

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SenSys '22

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SenSys '22: The 20th ACM Conference on Embedded Networked Sensor Systems

November 6 - 9, 2022

Massachusetts, Boston

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SenSys '22 Paper Acceptance Rate 52 of 187 submissions, 28%;

Overall Acceptance Rate 174 of 867 submissions, 20%

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Cited By

Jin MYao SLi KTian XWang XZhou CCao X(2024)Fine-Grained UHF RFID Localization for RoboticsIEEE/ACM Transactions on Networking10.1109/TNET.2024.345769632:6(5247-5262)Online publication date: Dec-2024
https://doi.org/10.1109/TNET.2024.3457696
Jin MLi KTian XWang XZhou C(2024)Graph Based RFID Grouping for Fast and Robust Inventory TrackingIEEE Transactions on Mobile Computing10.1109/TMC.2024.343943023:12(14201-14217)Online publication date: Dec-2024
https://doi.org/10.1109/TMC.2024.3439430
Jin MLi KTian XWang XZhou CCosta XAl Hassanieh HAsadi ACox LPerino DWidmer JGiustiniano D(2023)Fast, Fine-grained, and Robust Grouping of RFIDsProceedings of the 29th Annual International Conference on Mobile Computing and Networking10.1145/3570361.3592510(1-14)Online publication date: 2-Oct-2023
https://dl.acm.org/doi/10.1145/3570361.3592510
Zhang JNa XXi RSun YHe Y(2023)mmHawkeye: Passive UAV Detection with a COTS mmWave Radar2023 20th Annual IEEE International Conference on Sensing, Communication, and Networking (SECON)10.1109/SECON58729.2023.10287526(267-275)Online publication date: 11-Sep-2023
https://doi.org/10.1109/SECON58729.2023.10287526
Liang BLiu XWan YCheng SLiu JXu C(2023)Poster: Empower Smart Agriculture with RFID Reference Infrastructure2023 20th Annual IEEE International Conference on Sensing, Communication, and Networking (SECON)10.1109/SECON58729.2023.10287453(72-73)Online publication date: 11-Sep-2023
https://doi.org/10.1109/SECON58729.2023.10287453

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