Autonomous discovery, localization and recognition of smart objects through WSN and image features

E. Menegatti; M. Danieletto; M. Mina; A. Pretto; A. Bardella; S. Zanconato; P. Zanuttigh; A. Zanella

doi:10.1109/GLOCOMW.2010.5700221

Autonomous discovery, localization and recognition of smart objects through WSN and image features

E. Menegatti
, M. Danieletto
, M. Mina
, A. Pretto
, A. Bardella
, S. Zanconato
, P. Zanuttigh
, A. Zanella

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

19 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2010 IEEE Globecom Workshops, GC'10
Publisher	IEEE Computer Society
Pages	1653-1657
Number of pages	5
ISBN (Print)	9781424488650
DOIs	https://doi.org/10.1109/GLOCOMW.2010.5700221
State	Published - 2010
Externally published	Yes
Event	2010 IEEE Globecom Workshops, GC 2010 - Miami, United States Duration: 5 Dec 2010 → 10 Dec 2010

Publication series

Name	2010 IEEE Globecom Workshops, GC'10

Conference

Conference	2010 IEEE Globecom Workshops, GC 2010
Country/Territory	United States
City	Miami
Period	5/12/10 → 10/12/10

Keywords

Mobile robot
Object-Recognition
SIFT
Smart objects
Wireless sensor network

Access to Document

10.1109/GLOCOMW.2010.5700221

Cite this

Menegatti, E., Danieletto, M., Mina, M., Pretto, A., Bardella, A., Zanconato, S., Zanuttigh, P., & Zanella, A. (2010). Autonomous discovery, localization and recognition of smart objects through WSN and image features. In 2010 IEEE Globecom Workshops, GC'10 (pp. 1653-1657). Article 5700221 (2010 IEEE Globecom Workshops, GC'10). IEEE Computer Society. https://doi.org/10.1109/GLOCOMW.2010.5700221

@inproceedings{a56d537f469a4137b4b5f5dd853fe715,

title = "Autonomous discovery, localization and recognition of smart objects through WSN and image features",

abstract = "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.",

keywords = "Mobile robot, Object-Recognition, SIFT, Smart objects, Wireless sensor network",

author = "E. Menegatti and M. Danieletto and M. Mina and A. Pretto and A. Bardella and S. Zanconato and P. Zanuttigh and A. Zanella",

year = "2010",

doi = "10.1109/GLOCOMW.2010.5700221",

language = "English",

isbn = "9781424488650",

series = "2010 IEEE Globecom Workshops, GC'10",

publisher = "IEEE Computer Society",

pages = "1653--1657",

booktitle = "2010 IEEE Globecom Workshops, GC'10",

address = "United States",

note = "2010 IEEE Globecom Workshops, GC 2010 ; Conference date: 05-12-2010 Through 10-12-2010",

}

Menegatti, E, Danieletto, M, Mina, M, Pretto, A, Bardella, A, Zanconato, S, Zanuttigh, P & Zanella, A 2010, Autonomous discovery, localization and recognition of smart objects through WSN and image features. in 2010 IEEE Globecom Workshops, GC'10., 5700221, 2010 IEEE Globecom Workshops, GC'10, IEEE Computer Society, pp. 1653-1657, 2010 IEEE Globecom Workshops, GC 2010, Miami, United States, 5/12/10. https://doi.org/10.1109/GLOCOMW.2010.5700221

Autonomous discovery, localization and recognition of smart objects through WSN and image features. / Menegatti, E.; Danieletto, M.; Mina, M. et al.
2010 IEEE Globecom Workshops, GC'10. IEEE Computer Society, 2010. p. 1653-1657 5700221 (2010 IEEE Globecom Workshops, GC'10).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Menegatti, E.

AU - Danieletto, M.

AU - Mina, M.

AU - Pretto, A.

AU - Bardella, A.

AU - Zanconato, S.

AU - Zanuttigh, P.

AU - Zanella, A.

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N2 - 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.

AB - 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.

KW - Mobile robot

KW - Object-Recognition

KW - SIFT

KW - Smart objects

KW - Wireless sensor network

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SN - 9781424488650

T3 - 2010 IEEE Globecom Workshops, GC'10

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BT - 2010 IEEE Globecom Workshops, GC'10

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T2 - 2010 IEEE Globecom Workshops, GC 2010

Y2 - 5 December 2010 through 10 December 2010

ER -

Autonomous discovery, localization and recognition of smart objects through WSN and image features

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Publication series

Conference

Keywords

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