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Multiscan-based map optimizer for RFID map-building with low-accuracy measurements

This paper studies the problem of mobile robot map-building using a low-accuracy RFID sensor. In recent years, there has been increasing number of mobile robot systems using RFID landmarks. A difficulty arises from the fact that the characteristics of RFID sensors are quite electrically-sensitive, which makes the map-building process difficult to converge. Our solution is to integrate a robust multiscan-based online sensor model within an SGD framework of map-optimization, which significantly improves the convergence and accuracy.