Human recognition using RFID system with multi-antenna

In this paper, a method of human recognition in indoor environment for mobile robot using RFID (Radio Frequency Identification) technology and stereo vision is proposed as it is inexpensive, flexible and easy to use in practical environment. Because information of human being can be written in ID tags, the proposed method can detect the human easily and quickly compared with the other methods. The proposed method first calculates the probability where human with ID tag exists using Bayes rule. But the accuracy of localization of obstacles is not enough for mobile robot navigation just using one antenna. In this paper, we discuss using multiantennas to localize obstacle with ID tags, then use the result of Bayes rule to determine the ROI for stereo camera processing in order to get accurate position and orientation of human. Hu moment invariants was introduced to recognize the human being because this method is insensitive to the variations in position, size and orientation. The proposed method does not need to process all image and easily gets some information of obstacle such as size, color, thus decreases the processing computation. This paper introduces the architecture of the proposed method and presents some experimental results.