1. RFID Object Localization Gabriel Robins and Kirti Chawla Department of Computer Science University of Virginia robins@cs.virginia.edu kirti@cs.virginia.edu

2. Outline What is Object Localization ? Background Motivation Localizing Objects using RFID Experimental Evaluation Conclusion 02/33

3. What is Object Localization ? Goal: Find positions of objects in the environment Problem: Devise an object localization approach with good performance and wide applicability 03/33 ObjectsEnvironments

4. Current Situation 04/33 Lots of approaches and applications lead to vast disorganized research space Inapplicable Not general Mismatched Identify limitations Determine suitability Techniques Signal arrival angle Signal strength Signal arrival time Signal phase Technologies Satellites Lasers Ultrasound sensors Cameras Applications Outdoor localization Indoor localization Mobile object localization Stationary object localization

5. Localization Type 05/33 SelfEnvironmental Self-aware of position Processing capability Not aware of position Optional processing capability

6. Localization Technique 06/33 Signal arrival time Signal arrival difference time Signal strength Signal arrival phase Signal arrival angle Landmarks Analytics (combines above techniques with analytical methods)

7. RFID Technology Primer 07/33 RFID reader RFID tag Passive Semi-passive Active Interact at various RF frequencies Inductive Coupling Backscatter Coupling

8. Motivating RFID-based Localization 08/33 Low-visibility environments Not direct line of sight Beyond solid obstacles Cost-effective Adaptive to flexible application requirements Good localization performance

9. State-of-the-art in RFID Localization 09/33 Pure RFID –based localization approaches Hybrid

10. Contributions 10/33 Pure RFID-based environmental localization framework with good performance and wide applicability Key localization challenges that impact performance and applicability

11. Power-Distance Relationship 11/33 Reader powerDistanceTag power Cannot determine tag position Empirical power- distance relationship

12. Empirical Power-Distance Relationship 12/33 Insight: Tags with very similar behaviors are very close to each other

13. Tag Sensitivity 13/33 Variable sensitivities Bin tags on sensitivity Average sensitiveHigh sensitive Low sensitive Pile of tags Key Challenges Results 25 %54 %8 % 13 %

14. Reliability through Multi-tags 14/33 Platform design Results Insight: Multi-tags have better detectabilities (Bolotnyy and Robins, 2007) due to orientation and redundancy

15. Tag Localization Approach 15/33 Setup phase Localization phase

16. Algorithm: Linear Search 16/33 Linearly increments the reader power from lowest to highest (LH) or highest to lowest (HL) Reports the first power level at which a tag is detected as the minimum tag detection power level Localizes the tags in a serial manner Time-complexity is: O(# tags  power levels)

17. Algorithm: Binary Search 17/33 Exponentially converges to the minimum tag detection power level Localizes the tags in a serial manner Time-complexity is: O(# tags  log(power levels))

18. Algorithm: Parallel Search 18/33 Linearly decrements the reader power from highest to lowest power level Reports the first power level at which a tag is detected as the minimum tag detection power level Localizes the tags in a parallel manner Time-complexity is: O(power levels)

19. Reader Localization Approach 19/33 Setup phase Localization phase

20. Algorithm: Measure and Report 20/33 Reports a 2-tuple  TagID, Timestamp  after reading a neighborhood tag Sorted timestamps identify object’s motion path Time-complexity is: O(1)

21. Localization Error 21/33 Reference tag’s location as object’s location leads to error Number of selection criteria Error-reducing Heuristics

22. Experimental Setup 22/33 1 4 2 3 Y-axis X-axis Track designMobile robot design

23. Experimental Evaluation 23/33 Empirical power-distance relationship Localization performance Impact of number of tags on localization performance

24. Empirical Power-Distance Relationship 24/33

25. Localization Accuracy 25/33

26. Algorithmic Variability 26/33

27. Localization Time 27/33

28. Performance Vs Number of Tags 28/33 Diminishing returns

29. Comparison with Existing Approaches 29/33 Hybrid

30. Visualization 30/33 Accuracy Work area Antenna control Heuristics

31. Deliverables 31/33 Patent(s): 1.Kirti Chawla, and Gabriel Robins, Method, System and Computer Program Product for Low- Cost Power-Provident Object Localization using Ubiquitous RFID Infrastructure, UVA Patent Foundation, University of Virginia, 2010, US Patent Application Number: 61/386,646. Journal Publication(s): 2. Kirti Chawla, and Gabriel Robins, An RFID-Based Object Localization Framework, International Journal of Radio Frequency Identification Technology and Applications, Inderscience Publishers, 2011, Vol. 3, Nos. 1/2, pp. 2-30. Conference Publication(s): 3.Kirti Chawla, Gabriel Robins, and Liuyi Zhang, Efficient RFID-Based Mobile Object Localization, Proceedings of IEEE International Conference on Wireless and Mobile Computing, Networking and Communications, 2010, Canada, pp. 683-690. 4.Kirti Chawla, Gabriel Robins, and Liuyi Zhang, Object Localization using RFID, Proceedings of IEEE International Symposium on Wireless Pervasive Computing, 2010, Italy, pp. 301- 306. Grant(s): 5. Gabriel Robins (PI), NSF Grant on RFID Pending

32. Conclusion 32/33 Pure RFID-based object localization framework Key localization challenges Power-distance relationship is a reliable indicator Extendible to other scenarios

33. 33/33 Thank You

34. 34 Backup Slides

35. Key Localization Challenges 35 RF interference Occlusions Reader locality Tag spatiality Tag sensitivity Tag orientation Back

36. Single Tag Calibration 36 Constant distance/Variable power Variable distance/Constant power Back

37. Multi-Tag Calibration: Proximity 37 Constant distance/Variable power Variable distance/Constant power Back

38. Multi-Tag Calibration: Rotation 1 38 Constant distance/Variable power Back

39. Multi-Tag Calibration: Rotation 2 39 Variable distance/Constant power Back

40. Error-Reducing Heuristics 40 Heuristics: Absolute difference Back

41. Error-Reducing Heuristics 41 Heuristics: Minimum power reader selection Back

42. Error-Reducing Heuristics 42 Heuristics: Root sum square absolute difference Back

43. Error-Reducing Heuristics 43 Localization error Root sum square absolute difference Meta-Heuristic Minimum power reader selection Absolute difference Other heuristics Back