An application of RFID technology to mobile object’s pose estimation in 2D space

The paper presents the use of a matrix of passive RFID tags to determine the pose of object inside a room in situation where it is not possible to use other available technologies. The selection of the spatial configuration of RFID readers ensuring the most accurate pose the tracked object’s pose estimation was proposed and discussed. The sensitivity of the method of determining the location and orientation to damage to matrix elements was examined. The presented approach was verified by means of simulations, representative examples of which are shown in the paper.