Haruhiko Niwa

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A method of estimating pose of a robot on a lattice of RFID tags is described. In recent years, radio frequency identification (RFID) technology has become a very popular method for localizing robots because it is robust to disturbances such as lighting and obstacles, which adversely affect the conventional methods that use cameras, supersonic waves and so(More)
Wabot-house research laboratory is working on a project that will enable integrating robots into our everyday life. We believe that a "structured environment" (SE) will be one of most important concepts for this project. An SE generally means that objects near people that have some database or intelligence provide certain information to those people. An SE(More)
Carrier phase-based positioning such as RTK-GPS, which has centimeter-level accuracy, is ideal for mobile robot navigation. However, this technology comes with a serious problem called cycle slip, which happens when the receiver fails to track the carrier phase of signals incoming from transmitters. Cycle slip is usually caused by multipath, noise, and many(More)
This paper proposes a methodology for generating an indoor map of the home environment using widely installed RFID tags, which is being experimentally developed in the model room in the WABOT-HOUSE Laboratory[1]. Our laboratory is studying a system that generates and renews an environmental map of a room in real time in cooperation with three subsystems: a(More)
We have developed a novel way for robots to estimate their pose dynamically in an environment in which RFID tags have been arranged. We previously developed a method for localizing robots using a particle filter. Testing in a room equipped with a lattice of RFID tags at 300-mm intervals revealed that the estimation fails when the robot's RFID readers are(More)
This paper offers a significant evaluation of reader's placement for two wheeled robots to estimate their posture from a lattice of RFID tags. RFID systems where IC tags are installed under/on floors have widely been utilized in recent years as the next positioning infrastructure. The readers' antennas should be properly configured on a robot so that such(More)
This paper describes a new acoustic localization method using audible sound, which can be applied over a broader range of search directions. In the field of robotics, most conventional indoor localization systems based on sonar range finders use ultrasound to obtain a highly accurate distance. Because ultrasound has high directivity, many measurements are(More)
Occlusion is a problem for range finders; ranging systems using cameras or lasers cannot be used to estimate distance to an object (hidden object) that is occluded by another (obstacle). We developed a method to estimate the distance to the hidden object by applying acoustic diffraction of audible sound. Our method is based on time-of-flight (TOF), which(More)
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