RFID-Based Pose Estimation for Moving Objects Using Classification and Phase-Position Transformation

RFID-based pose perception can enable industrial automation applications such as industrial robot grasping. In this paper, a RFID pose estimation method based on classification algorithm and phase-position transformation model for moving objects is proposed, which converts the traditional pose estimation problem into a machine learning classification problem by dividing the direction angle value domain of the object into several classes. The phase information of multiple RFID tags attached to the object is transformed into position information using an unwrapped phase-position model, on which the input features of the classifier is constructed. A classifier based on the LightGBM framework is constructed and trained to realize the mapping between RFID phase information and the object's pose. Extensive experiments demonstrate that the proposed method in this paper can accurately estimate the pose of moving objects in real time and successfully complete the robot grasping task for objects on the conveyor belt.