Tagoram: Real-Time Tracking of Mobile RFID Tags to High...
Transcript of Tagoram: Real-Time Tracking of Mobile RFID Tags to High...
![Page 1: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/1.jpg)
Tagoram: Real-Time Tracking of Mobile
RFID Tags to High-Precision Accuracy
Using COTS Devices
Xiang-Yang Li
Lei Yang, Yekui Chen Chaowei Xiao, Mo Li, Yunhao Liu
![Page 2: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/2.jpg)
Tagoram: Real-Time Tracking of Mobile
RFID Tags to High-Precision Accuracy
Using COTS Devices
Xiang-Yang Li
Lei Yang, Yekui Chen Chaowei Xiao, Mo Li, Yunhao Liu
![Page 3: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/3.jpg)
Known Track 04.
Outline
State-of-the-art 02.
Technique Overview 03.
Implementation & Evaluation 06.
Unknown Track 05.
Motivation 01.
Pilot Study 07.
Other Research 08.
![Page 4: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/4.jpg)
Motivation
![Page 5: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/5.jpg)
Portal
Real-time Tracking
Access control
Livestock
Payment devices
Logistics
Passport Automobile immobilizers
RFID Technology
![Page 6: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/6.jpg)
RFIDs
5-cent stickers to tag any and every object
Reader’s range is ~15m
billions of RFIDs were deployed for inventory management and object tracking
Battery-free RF stickers with unique IDs Imagine you can localize RFIDs to within 10 to 15 cm!
![Page 7: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/7.jpg)
No more customer checkout lines
If we can locate RFID to within 10 to 15cm
![Page 8: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/8.jpg)
RFID Proximity as Indicator!
RFIDs on
Basket,
goods
![Page 9: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/9.jpg)
Automatic production
Imagine you can localize RFIDs to within 0.1cm to 1 cm!
![Page 10: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/10.jpg)
Goal-line technology
Imagine you can localize RFIDs to within 0.1cm to 1 cm!
![Page 11: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/11.jpg)
Human-computer interface
Imagine you can localize RFIDs to within 0.1cm to 1 cm!
![Page 12: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/12.jpg)
Baggage sortation in airport
Imagine you can localize RFIDs to within 0.1cm to 1 cm!
![Page 13: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/13.jpg)
Demonstration http://young.tagsys.org/tracking/tagoram/youtube
![Page 14: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/14.jpg)
High-Precision RFID Tracking Using COTS Devices
30cm 40cm
Drawing in the Air
![Page 15: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/15.jpg)
TrackPoint Deployed at Airports
Reader
Industrial
computer
![Page 16: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/16.jpg)
State-of-the-art
![Page 17: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/17.jpg)
RFID Tracking & Localization State-of-the-art
2004 2014 2013 2011 2010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
LANDMARC Lionel M. Ni
![Page 18: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/18.jpg)
RFID Tracking & Localization State-of-the-art
2004 2014 2013 2011 2010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
LANDMARC Lionel M. Ni
[3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
Diff based C. H.Williams
Spatial based P. Nikitin
![Page 19: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/19.jpg)
RFID Tracking & Localization State-of-the-art
2004 2014 2013 2011 2010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm [3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
Diff based C. H.Williams
Spatial based P. Nikitin
[4] Salah Azzouzi, etal
New measurement results for the
localization of uhf RFID transponders
using an angle of arrival (aoa) approach
IEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal.
Holographic localization of passive uhf
rfid transponders.
IEEE RFID 2011.
AOA based S. Azzouzi
Holographic R. Miesen
![Page 20: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/20.jpg)
RFID Tracking & Localization State-of-the-art
2004 2014 2013 2011 2010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
[4] Salah Azzouzi, etal
New measurement results for the
localization of uhf RFID transponders
using an angle of arrival (aoa) approach
IEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal.
Holographic localization of passive uhf
rfid transponders.
IEEE RFID 2011.
AOA based S. Azzouzi
Holographic R. Miesen
[6] Jue Wang, etal
Dude, where's my card?: RFID positioning
that works with multipath and non-line of
sight
ACM SIGCOMM 2013
110mm
12.8mm
[7] Jue Wang, etal
RF-compass: robot object manipulation
using RFIDs
ACM MobiCom 2013
PinIt Jue Wang
RF-Compass Jue Wang
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
[3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
![Page 21: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/21.jpg)
RFID Tracking & Localization State-of-the-art
2004 2014 2013 2011 2010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
[4] Salah Azzouzi, etal
New measurement results for the
localization of uhf RFID transponders
using an angle of arrival (aoa) approach
IEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal.
Holographic localization of passive uhf
rfid transponders.
IEEE RFID 2011.
[6] Jue Wang, etal
Dude, where's my card?: RFID positioning
that works with multipath and non-line of
sight
ACM SIGCOMM 2013
110mm
27.6mm
[7] Jue Wang, etal
RF-compass: robot object manipulation
using RFIDs
ACM MobiCom 2013
[8] Tianci Liu, etal,
Anchor-free Backscatter Positioning for
RFID Tags with High Accuracy
IEEE INFOCOM 2014
128mm
[9] Jue Wang, etal,
RF-Idaw: Virtual Touch Screen in the Air
Using RF Signals
IEEE INFOCOM 2014
37mm
BackPos Tianci Liu
RF-IDRaw Jue Wang
[3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
PinIt Jue Wang
RF-Compass Jue Wang
![Page 22: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/22.jpg)
RFID Tracking & Localization State-of-the-art
2004 2014 2013 2011 2010
[1] Lionel M. Ni, Yunhao Liu, etal
LANDMARC: Indoor Location Sensing
Using Active RFID
Wireless Networks
1120mm
[4] Salah Azzouzi, etal
New measurement results for the
localization of uhf RFID transponders
using an angle of arrival (aoa) approach
IEEE RFID 2011.
300mm
210mm
[5] R. Miesen etal.
Holographic localization of passive uhf
rfid transponders.
IEEE RFID 2011.
[6] Jue Wang, etal
Dude, where's my card?: RFID positioning
that works with multipath and non-line of
sight
ACM SIGCOMM 2013
110mm
27.6mm
[7] Jue Wang, etal
RF-compass: robot object manipulation
using RFIDs
ACM MobiCom 2013
[8] Tianci Liu, etal,
Anchor-free Backscatter Positioning for
RFID Tags with High Accuracy
IEEE INFOCOM 2014
128mm
[9] Jue Wang, etal,
RF-Idaw: Virtual Touch Screen in the Air
Using RF Signals
ACM SigComm 2014
37mm
BackPos Tianci Liu
RF-IDRaw Jue Wang
WE ARE HERE
7mm
[3] P.Nikitin, etal
Phase based spatial identification of uhf
rfid tags.
IEEE RFID 2010.
680mm
[2] C.Hekimian-Williams, elta
Accurate localization of rfid tags using
phase difference.
IEEE RFID 2010.
280mm
![Page 23: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/23.jpg)
State-of-the-art Techniques
RSS based Methods 1
RSS is not a reliable location indicator especially for UHF tags
RSS Orientation VS
![Page 24: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/24.jpg)
Phase based Methods 2
PinIt (SIGCOMM 2013) RF-Compass (MobiCom 2013)
Needs to deploy dense reference tags
State-of-the-art Techniques
![Page 25: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/25.jpg)
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
![Page 26: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/26.jpg)
How Tagoram works? Overview the basic idea
![Page 27: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/27.jpg)
Backscatter Communication
![Page 28: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/28.jpg)
COTS RFID Reader
0.0015 radians (4096 bits)
![Page 29: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/29.jpg)
Problem definition
Surveillance region
Reader antenna
![Page 30: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/30.jpg)
Bird’s Eye View of Tagoram
Surveillance region
Reader antenna
![Page 31: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/31.jpg)
Tagoram
Controllable Case Case 1.
Uncontrollable Case Case 2.
![Page 32: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/32.jpg)
Movement with
Known Track Controllable case
![Page 33: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/33.jpg)
Trajectory
Track
Track vs. Trajectory
A function of time–space relationships
A function of geometric relationships
VS
![Page 34: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/34.jpg)
Virtual Antenna Array
Conveyor
Inverse Synthetic Aperture Radar
Initial
position
![Page 35: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/35.jpg)
RF Hologram
![Page 36: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/36.jpg)
How to define the likelihood?
The key is
![Page 37: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/37.jpg)
RF Hologram
Naïve Hologram
Augmented Hologram
Differential Augmented Hologram
Thermal noise
Device diversity
![Page 38: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/38.jpg)
Naïve Hologram
The real signal
The theoretical signal
A virtual interfered signal
![Page 39: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/39.jpg)
Naïve Hologram
Virtual interfered signal
Sum of all signals
![Page 40: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/40.jpg)
Naïve Hologram
Real axis
Imaginary axis
![Page 41: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/41.jpg)
Naïve Hologram
Real axis
Imaginary axis
![Page 42: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/42.jpg)
Naïve Hologram
High PSNR
![Page 43: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/43.jpg)
Influence from Thermal Noise
Experiment Observations
CDF Modeling
![Page 44: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/44.jpg)
How to deal with thermal noise?
Augmented Hologram
![Page 45: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/45.jpg)
Augmented Hologram
A probabilistic weight
![Page 46: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/46.jpg)
Augmented Hologram
Ground truth Result
Shift
scattered
![Page 47: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/47.jpg)
What is missing again? Tags are different!
Tag diversity
![Page 48: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/48.jpg)
Influence from Tag Diversity
Experiment
Observations
Random test
Modeling
At same position
Tag diversity
Pass KS-test to be verified over a uniform distribution with 0.5 significant level.
![Page 49: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/49.jpg)
How to eliminate tag diversity?
Differential Augmented Hologram
![Page 50: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/50.jpg)
Differential Augmented Hologram
Using difference of difference of phase values
![Page 51: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/51.jpg)
Differential Augmented Hologram
Result
Ground truth
![Page 52: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/52.jpg)
How to achieve the real-time?
Incremental computations
![Page 53: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/53.jpg)
Saving Computations in Spatial Domain
Observation: The computations on blue pixel (low level PSNR) are totally wasted
![Page 54: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/54.jpg)
Movement with
Unknown Track Uncontrollable case
![Page 55: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/55.jpg)
Overview
Estimating Speeds,
Fitting tag’s trajectory
1
Selecting the optimal trajectory 2
![Page 56: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/56.jpg)
Observations
![Page 57: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/57.jpg)
Fitting tag’s trajectory
More complicate cases are discussed in our paper.
![Page 58: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/58.jpg)
Fitting Tag’s Trajectory
Fitting the speed using NLS
![Page 59: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/59.jpg)
Fitting Tag’s Trajectory
Trajectory
Speed Chain
![Page 60: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/60.jpg)
Selecting the Optimal Trajectory
Unknown!
![Page 61: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/61.jpg)
Implementation & Evaluation Purely based on COTS devices
![Page 62: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/62.jpg)
Hardware & Software Introduction
ImpinJ R420 reader.
4 directional antennas
Reader Tag
Alien 2 × 2 Inlay
Alien Squiggle Inlay
Software
EPCglobal LLRP
Java
![Page 63: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/63.jpg)
Linear Track
• 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.
![Page 64: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/64.jpg)
Tracking Accuracy in Linear Track
DAH
![Page 65: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/65.jpg)
Impacts of frequency and orientation
Both frequency and orientation take limited impacts on tracking accuracy.
Impact of frequency Impact of orientation
![Page 66: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/66.jpg)
Real-time evaluation
Read-time Accuracy vs. Real-time
100 reads (~ 3.3s)
![Page 67: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/67.jpg)
Impact of distance
No obvious pattern between distance and accuracy
![Page 68: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/68.jpg)
Controllable Case with Nonlinear Track
• The track’s internal diameter is 540mm
![Page 69: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/69.jpg)
Nonlinear track
DAH
![Page 70: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/70.jpg)
Under Uncontrollable Case
A median of 12.3cm accuracy with a standard deviation of 5cm ---- better method proposed later, with about 1cm accuracy
![Page 71: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/71.jpg)
Pilot Study In two airports
![Page 72: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/72.jpg)
TagAssist: RFID assisted baggage sortation
Automatic Track & Check Service Collaborated with Hainan Airline
![Page 73: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/73.jpg)
Where baggage lost?
Main factors to baggage loss
Relevant to baggage tracking
![Page 74: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/74.jpg)
Current workflow – Manual sortation
Sortation carousel Sorting baggage
It is error-prone step to find the baggage from the carousel in manual sortation.
![Page 75: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/75.jpg)
How to assist sorter quickly find and sort baggage?
![Page 76: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/76.jpg)
Step 1: Upgrade Printer
We upgraded the tag printer by embedding a module of RFID reader in printer and an inlay inside each baggage tag.
![Page 77: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/77.jpg)
Step 2: TrackPoint
Reader
Industrial
computer
![Page 78: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/78.jpg)
Step 3: Visualization
![Page 79: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/79.jpg)
Pilot site
Beijing Capital International Airport
Sanya Phoenix International Airport
![Page 80: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/80.jpg)
Setup
• Each airport contains 5 TrackPoints, 4 visualization screens, and 22 RFID Printers.
• The two-year pilot study totally spent more than $600,000
![Page 81: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/81.jpg)
Setup
•Consumed 110,000 RFID tags.
• Involved 53 destination airports, 93 air lines, and 1,094 flights.
![Page 82: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/82.jpg)
Tracking Accuracy
Tagoram achieves a median accuracy of 6.35cm in practice.
![Page 83: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/83.jpg)
Efficiency Improvement
Sorting carousel
Tagoram decreases the mean distance by 30%.
![Page 84: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/84.jpg)
Tolerance to multipath
Tagoram has strong tolerance to multipath effect
Top four multipath cases Tracking accuracies
![Page 85: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/85.jpg)
Other Research
![Page 86: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/86.jpg)
88
OceanSense GreenOrbs CitySee
Networking observations
ZIMO:
Coexistence
Capacity: Large
scale
![Page 87: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/87.jpg)
CitySee System (2011--)
![Page 88: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/88.jpg)
Sensor nodes, mesh routers
90
![Page 89: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/89.jpg)
Cyber Physical Systems
![Page 90: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/90.jpg)
Cognitive Radio Networks
92
![Page 91: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/91.jpg)
Capacity of Large Scale Networks
![Page 92: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/92.jpg)
Our iGaze Glasses
![Page 93: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/93.jpg)
Acknowledgments
![Page 94: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/94.jpg)
PhD Students (alumni 10)
96
UNCC GSU Google W. Oregon
Tsinghua Motorola financial
financial
UT Dallas Toledo
![Page 95: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/95.jpg)
Current PhD Students
97
![Page 96: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/96.jpg)
MS Students
98
![Page 97: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/97.jpg)
Students
99
![Page 98: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/98.jpg)
100
100
![Page 99: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/99.jpg)
Demo Video
![Page 100: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/100.jpg)
Airport Video
![Page 102: Tagoram: Real-Time Tracking of Mobile RFID Tags to High ...staff.ustc.edu.cn/.../RFID-Tagoram-ONE-HOUR-final.pdf · Accurate localization of rfid tags using phase difference. IEEE](https://reader034.fdocuments.in/reader034/viewer/2022042022/5e79d006a23e160c6671e871/html5/thumbnails/102.jpg)
Influences from other factors
1
2 Why tolerate NLOS?
Why tolerate Doppler effect?