Localization in large-scale underground environments with RFID

Localization using satellite-based GPS is not available in underground mines, therefore a new approach is required. This paper presents a method for localizing a sensor-equipped vehicle in a large-scale underground environment by using a particle filter and a collection of 2D a priori node maps. Spo...

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Published in2011 24th Canadian Conference on Electrical and Computer Engineering(CCECE) pp. 001140 - 001143
Main Authors Rusu, S. Radacina, Hayes, M. J. D., Marshall, J. A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2011
Subjects
Copper
filtering
Global Positioning System
Graphical user interfaces
Real time systems
RFID
RFID tags
Robot localization
Vehicles
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ISBN9781424497881
1424497884
ISSN0840-7789
DOI10.1109/CCECE.2011.6030640

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Abstract Localization using satellite-based GPS is not available in underground mines, therefore a new approach is required. This paper presents a method for localizing a sensor-equipped vehicle in a large-scale underground environment by using a particle filter and a collection of 2D a priori node maps. Sporadically placed passive RFID tags are used in the creation of the locally consistent node maps and for helping to solve the global localization problem. Experimental results from real-time localization in the multi-kilometre Carleton University underground tunnels are presented.
AbstractList Localization using satellite-based GPS is not available in underground mines, therefore a new approach is required. This paper presents a method for localizing a sensor-equipped vehicle in a large-scale underground environment by using a particle filter and a collection of 2D a priori node maps. Sporadically placed passive RFID tags are used in the creation of the locally consistent node maps and for helping to solve the global localization problem. Experimental results from real-time localization in the multi-kilometre Carleton University underground tunnels are presented.
Author Hayes, M. J. D.
Rusu, S. Radacina
Marshall, J. A.
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  surname: Marshall
  fullname: Marshall, J. A.
  organization: Robert M. Buchan Dept. of Min., Queen's Univ., Kingston, ON, Canada
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Snippet Localization using satellite-based GPS is not available in underground mines, therefore a new approach is required. This paper presents a method for localizing...
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SubjectTerms Copper
filtering
Global Positioning System
Graphical user interfaces
Real time systems
RFID
RFID tags
Robot localization
Vehicles
Title Localization in large-scale underground environments with RFID
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