tagoram: real-time tracking of mobile rfid tags to high-precision accuracy using cots devices...
TRANSCRIPT
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Tagoram: Real-Time Tracking of Mobile RFID Tags to High-Precision Accuracy
Using COTS Devices
Xiang-Yang Li
Lei Yang, Yekui Chen, Xiang-Yang Li, Chaowei Xiao, Mo Li, Yunhao Liu
Sep. 9, 2014
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Tagoram: Real-Time Tracking of Mobile RFID Tags to High-Precision Accuracy
Using COTS Devices
Xiang-Yang Li
Lei Yang, Yekui Chen, Xiang-Yang Li, Chaowei Xiao, Mo Li, Yunhao Liu
Sep. 9, 2014
![Page 3: Tagoram: Real-Time Tracking of Mobile RFID Tags to High-Precision Accuracy Using COTS Devices Xiang-Yang Li Lei Yang, Yekui Chen, Xiang-Yang Li, Chaowei](https://reader030.vdocument.in/reader030/viewer/2022012922/56649d825503460f94a67f40/html5/thumbnails/3.jpg)
Movement with known track04.
Outline
State-of-the-art02.Overview03.
Implementation & Evaluation06.Movement with unknown track05.
Motivation01.
Pilot Study07.
Conclusion08.
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Motivation1
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Human-computer interface
Imagine you can localize RFIDs to within 0.1cm to 1 cm!
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Baggage sortation in airport
Imagine you can localize RFIDs to within 0.1cm to 1 cm!
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Goal-line technology
Imagine you can localize RFIDs to within 0.1cm to 1 cm!
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Demonstration
http://young.tagsys.org/tracking/tagoram/youtube
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High-Precision RFID Tracking Using COTS Devices
30cm40cm
Drawing in the Air
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TrackPoint Deployed at AirportsReader
Industrial computer
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State-of-the-art2
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RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etalLANDMARC: Indoor Location Sensing Using Active RFIDWireless Networks
1120mm
LANDMARC Lionel M. Ni
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RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etalLANDMARC: Indoor Location Sensing Using Active RFIDWireless Networks
1120mm
LANDMARC Lionel M. Ni
[3] P.Nikitin, etalPhase based spatial identification of uhf rfid tags.IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, eltaAccurate localization of rfid tags using phase difference. IEEE RFID 2010.
280mm
Diff basedC. H.Williams
Spatial basedP. Nikitin
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RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etalLANDMARC: Indoor Location Sensing Using Active RFIDWireless Networks
1120mm [3] P.Nikitin, etalPhase based spatial identification of uhf rfid tags.IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, eltaAccurate localization of rfid tags using phase difference. IEEE RFID 2010.
280mm
Diff basedC. H.Williams
Spatial basedP. Nikitin
[4] Salah Azzouzi, etalNew measurement results for the localization of uhf RFID transponders using an angle of arrival (aoa) approachIEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal. Holographic localization of passive uhf rfid transponders. IEEE RFID 2011.
AOA basedS. Azzouzi
HolographicR. Miesen
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RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etalLANDMARC: Indoor Location Sensing Using Active RFIDWireless Networks
1120mm
[4] Salah Azzouzi, etalNew measurement results for the localization of uhf RFID transponders using an angle of arrival (aoa) approachIEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal. Holographic localization of passive uhf rfid transponders. IEEE RFID 2011.
AOA basedS. Azzouzi
HolographicR. Miesen
[6] Jue Wang, etalDude, where's my card?: RFID positioning that works with multipath and non-line of sightACM SIGCOMM 2013
110mm
12.8mm
[7] Jue Wang, etalRF-compass: robot object manipulation using RFIDsACM MobiCom 2013
PinItJue Wang
RF-CompassJue Wang
680mm
[2] C.Hekimian-Williams, eltaAccurate localization of rfid tags using phase difference. IEEE RFID 2010.
280mm
[3] P.Nikitin, etalPhase based spatial identification of uhf rfid tags.IEEE RFID 2010.
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RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etalLANDMARC: Indoor Location Sensing Using Active RFIDWireless Networks
1120mm
[4] Salah Azzouzi, etalNew measurement results for the localization of uhf RFID transponders using an angle of arrival (aoa) approachIEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal. Holographic localization of passive uhf rfid transponders. IEEE RFID 2011.
[6] Jue Wang, etalDude, where's my card?: RFID positioning that works with multipath and non-line of sightACM SIGCOMM 2013
110mm
27.6mm
[7] Jue Wang, etalRF-compass: robot object manipulation using RFIDsACM MobiCom 2013
[8] Tianci Liu, etal,Anchor-free Backscatter Positioning for RFID Tags with High AccuracyIEEE INFOCOM 2014
128mm
[9] Jue Wang, etal,RF-Idaw: Virtual Touch Screen in the Air Using RF SignalsIEEE INFOCOM 2014
37mm
BackPosTianci Liu
RF-IDRawJue Wang
[3] P.Nikitin, etalPhase based spatial identification of uhf rfid tags.IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, eltaAccurate localization of rfid tags using phase difference. IEEE RFID 2010.
280mm
PinItJue Wang
RF-CompassJue Wang
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RFID Tracking & LocalizationState-of-the-art
2004 2014201320112010
[1] Lionel M. Ni, Yunhao Liu, etalLANDMARC: Indoor Location Sensing Using Active RFIDWireless Networks
1120mm
[4] Salah Azzouzi, etalNew measurement results for the localization of uhf RFID transponders using an angle of arrival (aoa) approachIEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal. Holographic localization of passive uhf rfid transponders. IEEE RFID 2011.
[6] Jue Wang, etalDude, where's my card?: RFID positioning that works with multipath and non-line of sightACM SIGCOMM 2013
110mm
27.6mm
[7] Jue Wang, etalRF-compass: robot object manipulation using RFIDsACM MobiCom 2013
[8] Tianci Liu, etal,Anchor-free Backscatter Positioning for RFID Tags with High AccuracyIEEE INFOCOM 2014
128mm
[9] Jue Wang, etal,RF-Idaw: Virtual Touch Screen in the Air Using RF SignalsIEEE INFOCOM 2014
37mm
BackPosTianci Liu
RF-IDRawJue Wang
WE ARE HERE
7mm
[3] P.Nikitin, etalPhase based spatial identification of uhf rfid tags.IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, eltaAccurate localization of rfid tags using phase difference. IEEE RFID 2010.
280mm
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State-of-the-art Techniques
RSS based Methods1
RSS is not a reliable location indicator especially for UHF tags
RSSOrientation VS
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Phase based Methods2
PinIt (SIGCOMM 2013) RF-Compass (MobiCom 2013)
Needs to deploy dense reference tags
State-of-the-art Techniques
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Summary of Challenges
Need mm-level localization accuracy achieved• especially for mobile tags.
Small overhead, COTS devices• infeasible for using many references for a tracking
system spanning a long pipeline.
Fast-changing environment • multipath reflection of RF signals • varied orientation of tags• Doppler effect
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How Tagoram works?3Overview the basic idea
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Backscatter Communication
Double distance
❶𝑩𝒂𝒕𝒕𝒆𝒓𝒚 𝒇𝒓𝒆𝒆
Continuous wave
Device diversity
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COTS RFID Reader
0.0015 radians (4096 bits)
accuracy
𝑰𝒎𝒑𝒊𝒏𝒋 𝑹𝒆𝒂𝒅𝒆𝒓
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Problem definition
Surveillance region
Reader antenna
{(𝜃1,1 ,𝑡 1,1 ) ,(𝜃1,2 , 𝑡1,2)⋯ , (𝜃1, 𝑁 ,𝑡 1 ,𝑁)}
{(𝜃2,1 ,𝑡 2,1 ) ,(𝜃2,2 ,𝑡 2,2)⋯ ,(𝜃2 ,𝑁 ,𝑡 2 ,𝑁 )}
{ (𝜃𝑀 ,1 , 𝑡𝑀 , 1 ) ,(𝜃𝑀 , 2 ,𝑡𝑀 ,2)⋯ , (𝜃𝑀 ,𝑁 , 𝑡𝑀 , 𝑁 )}⋮ ⋮ ⋮
𝑀×𝑁
Utilizing antennas’ locations, sampled phase values and timestamps to find out the tag’s trajectory ?
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Tagoram
Controllable CaseCase 1.
Uncontrollable CaseCase 2.
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Movement with Known TrackControllable case
4
Our goal is to find the
tag’s trajectory with
a known track.
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Virtual Antenna Matrix
Conveyor
Inverse Synthetic Aperture Radar
𝒇 (𝒕𝟎)𝑉
𝐴1
𝐴2
𝐴1,1 𝐴1,2 𝐴1,3 𝐴1,4
𝐴2,1 𝐴2,2 𝐴2,3 𝐴2,4
Initial position
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RF Hologram
𝑳
𝑾
𝑾
𝑳
𝒙𝒘 , 𝒍
Surveillance region grids
RF Hologram pixels
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How to define the likelihood?
The key is
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RF Hologram
Naïve Hologram
Augmented Hologram
DifferentialAugmented Hologram
Thermal noise
Device diversity
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Naïve Hologram
-1.5
-1
-0.5
0
0.5
1
1.5
Chart Title
𝐴 𝑇
𝑒 𝑱 𝜃 The real signal
-1.5
-1
-0.5
0
0.5
1
1.5
Chart Title
𝐴 𝑋𝑒 𝑱 h(𝐴 , 𝑋 ) The theoretical signal
-2
0
2Chart Title
𝐴 𝑋𝑒 𝑱 (h ( 𝐴 ,𝑋 )−𝜃 )A virtual interfered signal
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Naïve Hologram
Virtual interfered signal
Sum of all signals
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Naïve Hologram
If is the initial location, the waves add up constructively.
Real axis
Imaginary axis
𝑒 𝑱 (𝒉 ( 𝑿 , 𝑨𝟏 ,𝟏 )−𝜽𝟏 ,𝟏)
𝑒 𝑱 (𝒉 ( 𝑿 , 𝑨𝟏 ,𝟐 )−𝜽𝟏 ,𝟐)
𝑒 𝑱 (𝒉 ( 𝑿 , 𝑨𝟒 ,𝟒 )−𝜽𝟒 ,𝟒)𝑒 𝑱 (𝒉 ( 𝑿 , 𝑨𝟒 ,𝟑 )−𝜽𝟒,𝟑 )
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Naïve Hologram
Real axis
Imaginary axis
𝑒 𝑱 (𝒉 ( 𝑿 , 𝑨𝟏 ,𝟏 )−𝜽𝟏 ,𝟏)
𝑒 𝑱 (𝒉 ( 𝑿 , 𝑨𝟏 ,𝟐 )−𝜽𝟏 ,𝟐)
𝑒 𝑱 (𝒉 ( 𝑿 , 𝑨𝟒 ,𝟒 )−𝜽𝟒 ,𝟒)
𝑒 𝑱 (𝒉 ( 𝑿 , 𝑨𝟒 ,𝟑 )−𝜽𝟒,𝟑 )
If is not the initial location, the waves canceled out.
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Naïve Hologram
High PSNR
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−𝟕𝟎∼−𝟑𝟎𝒅𝒃𝒎
Influence from Thermal Noise
Experiment Observations CDF Modeling
varying with 𝝈=𝟎 .𝟏
𝜃∼𝒩(𝜇 ,𝜎 ) 𝐹 (𝜃 ;𝜇 ,𝜎 )
𝟎∘ 𝟒𝟎∘
𝟗𝟐𝟎∼𝟗𝟐𝟔𝑴𝑯𝒛
100 tags
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How to deal with thermal noise?Augmented Hologram
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Augmented Hologram
A probabilistic weight
(𝒉 ( 𝑿 , 𝑨 )−𝜽 )∼𝓝(𝟎 ,𝟎 .𝟏)
Probability of
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Augmented Hologram
Ground truth Result
Shift
scattered
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Influence from Tag Diversity
Experiment Observations
Random testModeling
At same position
70 tags times
Tag diversity
Pass KS-test to be verified over a uniform distribution with 0.5 significant level.
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How to eliminate tag diversity?Differential Augmented Hologram
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Differential Augmented Hologram
Using the difference of phase values
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Differential Augmented Hologram
ResultGround truth
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Movement with Unknown TrackUncontrollable case
5
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Overview
Estimating Speeds, Fitting tag’s trajectory
1
Selecting the optimal trajectory2
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Implementation & EvaluationPurely based on COTS devices6
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Hardware & Software Introduction
ImpinJ R420 reader.
4 directional antennas
Reader Tag
Alien 2 × 2 Inlay
Alien Squiggle Inlay
Software
EPCglobal LLRP
Java
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Linear Track
• A mobile object is emulated via a toy train on which a tag is attached.
• The system triggers the camera to take a snapshot on the train when firstly read.
• A camera is installed above the track to capture the ground truth.
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Tracking Accuracy in Linear Track
Improve the accuracy by in comparison to RSS, OTrack, PinIt and BackPos.
DAH02468
10121416
Chart Title
DAH
𝟒
𝟏𝟑𝟏𝟒
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Controllable Case with Nonlinear Track
• The track’s internal diameter is 540mm
• The distance varies from to
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Nonlinear track
DAH02468
10121416
Chart Title
DAH
𝟒 .𝟗𝟖𝟐 .𝟗𝟓
𝟕 .𝟐𝟗
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Under Uncontrollable Case
Achieve a median of 12.3cm accuracy with a standard deviation of 5cm.
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Pilot StudyIn two airports7
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Current workflow – Manual sortation
Sortation carousel Sorting baggage
It is error-prone step to find the baggage from the carousel in manual sortation.
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Our system: TrackPointReader
Industrial computer
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Tracking Visualization
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Pilot site
Beijing Capital International Airport
Sanya Phoenix International Airport
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Setup
• Each airport contains 5 TrackPoints, 4 visualization screens, and 22 RFID Printers.
• The two-year pilot study totally spent more than $600,000
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Setup
• Consumed 110,000 RFID tags.
• Involved 53 destination airports, 93 air lines, and 1,094 flights.
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Tracking Accuracy
Tagoram achieves a median accuracy of 6.35cm in practice.
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• Provides real-time tracking of mobile tags with accuracy to mm-level.
• Limits almost all negative impacts. • Multipath effect• Doppler effect• Thermal noise• Device diversity
• Implemented purely based on COTS RFID products.
• Systematically evaluated under indoor environment and at two airports.
Conclusion
Not well-studied before
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Questions?
hank you T