Authors: false; 345 E 47TH ST, NEW YORK, NY 10017 USA IEEE GLOBE WORK

Journal: Goal 11: Sustainable cities and communities###25130

Conference: cp

Publisher: 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. ©2010 IEEE.

Published: 1653

DOI: 60000481||60000481||60000481||60000481||60000481||60000481||60000481||60000481

Volume: Menegatti||Danieletto||Mina||Pretto||Bardella||Zanconato||Zanuttigh||Zanella, Issue: GEW-8545-2022||ERK-2686-2022||DGT-5340-2022||IAQ-1553-2023||EKW-3029-2022||GLD-9242-2022||AAB-9555-2019||J-4736-2012, Pages: E.||M.||M.||A.||A.||S.||P.||A.-Dept Informat Engn||Dept Informat Engn||Dept Informat Engn||Dept Informat Engn||Dept Informat Engn||Dept Informat Engn||Dept Informat Engn||Dept Informat Engn

Keywords: 9781424488650