Tagoram : Real-Time Tracking of Mobile RFID Tags to High-Precision Accuracy Using COTS Devices

1. Tagoram: Real-Time Tracking of Mobile RFID Tags to High-Precision Accuracy Using COTSDevices Xiang-Yang Li Lei Yang, Yekui Chen, Xiang-Yang Li, Chaowei Xiao, Mo Li, Yunhao Liu Sep. 9, 2014

2. Tagoram: Real-Time Tracking of Mobile RFID Tags to High-PrecisionAccuracy Using COTSDevices Xiang-Yang Li Lei Yang, Yekui Chen, Xiang-Yang Li, Chaowei Xiao, Mo Li, Yunhao Liu Sep. 9, 2014

3. Outline Implementation & Evaluation Motivation State-of-the-art 03. 04. 08. 02. 07. 06. 01. Conclusion Overview Pilot Study Movement with known track 05. Movement with unknown track

4. 1 Motivation

5. Imagine you can localize RFIDs to within 0.1cm to 1 cm! Human-computer interface

6. Imagine you can localize RFIDs to within 0.1cm to 1 cm! Baggage sortation in airport

7. Imagine you can localize RFIDs to within 0.1cm to 1 cm! Goal-line technology

8. Demonstrationhttp://young.tagsys.org/tracking/tagoram/youtubeDemonstrationhttp://young.tagsys.org/tracking/tagoram/youtube

9. High-Precision RFID Tracking Using COTS Devices Drawing in the Air 40cm 30cm

10. TrackPoint Deployed at Airports Reader Industrial computer

11. 2 State-of-the-art

12. RFID Tracking & Localization State-of-the-art [1] Lionel M. Ni, YunhaoLiu, etal LANDMARC: Indoor Location Sensing Using Active RFID Wireless Networks LANDMARC Lionel M. Ni 1120mm 2004 2014 2010 2011 2013

13. RFID Tracking & Localization State-of-the-art [1] Lionel M. Ni, YunhaoLiu, etal LANDMARC: Indoor Location Sensing Using Active RFID Wireless Networks LANDMARC Lionel M. Ni [3] P.Nikitin, etal Phase based spatial identification of uhf rfid tags. IEEE RFID 2010. 1120mm Spatial based P. Nikitin [2] C.Hekimian-Williams, elta Accurate localization of rfid tags using phase difference. IEEE RFID 2010. 680mm Diff based C. H.Williams 280mm 2004 2014 2010 2011 2013

14. RFID Tracking & Localization [4] Salah Azzouzi, etal New measurement results for the localization of uhf RFID transponders using an angle of arrival (aoa) approach IEEE RFID 2011. State-of-the-art [1] Lionel M. Ni, YunhaoLiu, etal LANDMARC: Indoor Location Sensing Using Active RFID Wireless Networks [5] R. Miesenetal. Holographic localization of passive uhf rfidtransponders. IEEE RFID 2011. AOA based S. Azzouzi [3] P.Nikitin, etal Phase based spatial identification of uhf rfid tags. IEEE RFID 2010. Holographic R. Miesen 1120mm Spatial based P. Nikitin [2] C.Hekimian-Williams, elta Accurate localization of rfid tags using phase difference. IEEE RFID 2010. 680mm Diff based C. H.Williams 300mm 280mm 210mm 2004 2014 2010 2011 2013

15. RFID Tracking & Localization [4] Salah Azzouzi, etal New measurement results for the localization of uhf RFID transponders using an angle of arrival (aoa) approach IEEE RFID 2011. State-of-the-art [1] Lionel M. Ni, YunhaoLiu, etal LANDMARC: Indoor Location Sensing Using Active RFID Wireless Networks [5] R. Miesenetal. Holographic localization of passive uhf rfidtransponders. IEEE RFID 2011. AOA based S. Azzouzi [3] P.Nikitin, etal Phase based spatial identification of uhf rfid tags. IEEE RFID 2010. Holographic R. Miesen 1120mm [6] Jue Wang, etal Dude, where's my card?: RFID positioning that works with multipath and non-line of sight ACM SIGCOMM 2013 PinIt Jue Wang [2] C.Hekimian-Williams, elta Accurate localization of rfid tags using phase difference. IEEE RFID 2010. 680mm [7] Jue Wang, etal RF-compass: robot object manipulation using RFIDs ACM MobiCom 2013 RF-Compass Jue Wang 300mm 280mm 210mm 110mm 12.8mm 2004 2014 2010 2011 2013

16. RFID Tracking & Localization [4] Salah Azzouzi, etal New measurement results for the localization of uhf RFID transponders using an angle of arrival (aoa) approach IEEE RFID 2011. State-of-the-art [1] Lionel M. Ni, YunhaoLiu, etal LANDMARC: Indoor Location Sensing Using Active RFID Wireless Networks [5] R. Miesenetal. Holographic localization of passive uhf rfidtransponders. IEEE RFID 2011. BackPos Tianci Liu [8] Tianci Liu, etal, Anchor-free Backscatter Positioning for RFID Tags with High Accuracy IEEE INFOCOM 2014 [3] P.Nikitin, etal Phase based spatial identification of uhf rfid tags. IEEE RFID 2010. 1120mm RF-IDRaw Jue Wang [9] Jue Wang, etal, RF-Idaw: Virtual Touch Screen in the Air Using RF Signals IEEE INFOCOM 2014 [6] Jue Wang, etal Dude, where's my card?: RFID positioning that works with multipath and non-line of sight ACM SIGCOMM 2013 PinIt Jue Wang [2] C.Hekimian-Williams, elta Accurate localization of rfid tags using phase difference. IEEE RFID 2010. 680mm [7] Jue Wang, etal RF-compass: robot object manipulation using RFIDs ACM MobiCom 2013 RF-Compass Jue Wang 300mm 280mm 210mm 128mm 110mm 37mm 27.6mm 2004 2014 2010 2011 2013

17. RFID Tracking & Localization [4] Salah Azzouzi, etal New measurement results for the localization of uhf RFID transponders using an angle of arrival (aoa) approach IEEE RFID 2011. State-of-the-art [1] Lionel M. Ni, YunhaoLiu, etal LANDMARC: Indoor Location Sensing Using Active RFID Wireless Networks [5] R. Miesenetal. Holographic localization of passive uhf rfidtransponders. IEEE RFID 2011. BackPos Tianci Liu [8] Tianci Liu, etal, Anchor-free Backscatter Positioning for RFID Tags with High Accuracy IEEE INFOCOM 2014 [3] P.Nikitin, etal Phase based spatial identification of uhf rfid tags. IEEE RFID 2010. 1120mm RF-IDRaw Jue Wang [9] Jue Wang, etal, RF-Idaw: Virtual Touch Screen in the Air Using RF Signals IEEE INFOCOM 2014 [6] Jue Wang, etal Dude, where's my card?: RFID positioning that works with multipath and non-line of sight ACM SIGCOMM 2013 [2] C.Hekimian-Williams, elta Accurate localization of rfid tags using phase difference. IEEE RFID 2010. 680mm [7] Jue Wang, etal RF-compass: robot object manipulation using RFIDs ACM MobiCom 2013 300mm 280mm 210mm 128mm 110mm 37mm 27.6mm 7mm WE ARE HERE 2004 2014 2010 2011 2013

18. State-of-the-art Techniques RSS based Methods 1 Orientation VS RSS • RSS is not a reliable location indicator • especially for UHF tags

19. State-of-the-art Techniques Phase based Methods 2 RF-Compass (MobiCom 2013) PinIt (SIGCOMM 2013) • Needs to deploy dense reference tags

20. Summary of Challenges • Need mm-levellocalization accuracyachieved • 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

21. 3 How Tagoram works? Overview the basic idea

22. Backscatter Communication Double distance Continuous wave Device diversity

23. COTS RFID Reader 0.0015 radians (4096 bits) accuracy

24. Problem definition Surveillance region Reader antenna • Utilizing antennas’ locations, sampled phase values and timestamps to find out the tag’s trajectory ?

25. Tagoram Case 1. Controllable Case Case 2. Uncontrollable Case

26. 4 Movement with Known Track Controllable case Our goal is to find the tag’s trajectory with a known track.

27. Virtual Antenna Matrix Inverse Synthetic Aperture Radar Conveyor Initial position

28. RF Hologram RF Hologram pixels Surveillance region grids

29. How to define the likelihood? The key is

30. RF Hologram Naïve Hologram Thermal noise Augmented Hologram Differential Augmented Hologram Device diversity

31. Naïve Hologram The real signal The theoretical signal A virtual interfered signal

32. Naïve Hologram Sum of all signals Virtual interfered signal

33. Naïve Hologram Imaginary axis Real axis If is the initial location, the waves add up constructively.

34. Naïve Hologram Imaginary axis Real axis If is not the initial location, the waves canceled out.

35. Naïve Hologram High PSNR

36. Influence from Thermal Noise Experiment Observations Modeling CDF varying with

37. How to deal with thermal noise? Augmented Hologram

38. Augmented Hologram A probabilistic weight Probability of

39. Augmented Hologram Shift Ground truth Result scattered

40. Influence from Tag Diversity Pass KS-testto be verified over a uniform distributionwith 0.5 significant level. times At same position Tag diversity Observations Experiment Modeling Random test

41. How to eliminate tag diversity? Differential Augmented Hologram

42. Differential Augmented Hologram Using the difference of phase values

43. Differential Augmented Hologram Ground truth Result

44. 5 Movement with Unknown Track Uncontrollable case

45. Overview Estimating Speeds, Fitting tag’s trajectory 1 Selecting the optimal trajectory 2

46. Implementation & Evaluation 6 Purely based on COTS devices

47. Hardware & Software Introduction Alien 2 × 2 Inlay Tag Software Reader EPCglobal LLRP ImpinJ R420 reader. Java Alien Squiggle Inlay 4 directional antennas

48. Linear Track • A mobile object is emulated via a toy train on which a tag is attached. • A camera is installed above the track to capture the ground truth. • The system triggers the camera to take a snapshot on the train when firstly read.

49. Tracking Accuracy in Linear Track DAH • Improve the accuracy by in comparison to RSS, OTrack, PinIt and BackPos.

50. Controllable Case with Nonlinear Track • The track’s internal diameter is 540mm • The distance varies from to