Stereo-based object detection systems can be greatly enhanced thanks to the use of passive UHF RFID technology. By combining tag localization with its identification capability, new features can be associated with each detected object, extending the set of potential applications. The main problem consists in the association between RFID tags and objects due to the intrinsic limitations of RSSI-based localization approaches. In this paper, a new directional RSSI-distance model is proposed taking into account the angle between the object and the antenna. The parameters of the model are automatically obtained by means of a stereo-RSSI automatic calibration process. A robust data association method is presented to deal with complex outdoor scenarios in medium sized areas with a measurement range up to 15m. The proposed approach is validated in crosswalks with pedestrians wearing portable RFID passive tags.
['David Fernández Llorca', 'Raúl Quintero', 'Ignacio Parra', 'María I. Arenas Jiménez', 'Carlos Iglesias Fernández', 'Rubén Izquierdo', 'Miguel Ángel Sotelo']
Fusing directional passive UHF RFID and stereo vision for tag association in outdoor scenarios