FuseBot is a robotic system that can efficiently find and retrieve both RFID tagged and untagged target objects in line-of-sight, non-line-of-sight and occluded settings using RF-Visual perception. The robot fuses both RF (radio frequency) and Visual information from the antenna and camera, mounted on the wrist of the robot, respectively to locate and retrieve a target item. The system introduces two key innovations: RF-Visual Mapping and RF-Visual Extraction to accurately localize and efficiently extract the item of interest.
FuseBot achieves a success rate of 95% in retrieving untagged items, demonstrating for the first time that the benefits of RF perception extend beyond tagged objects in the mechanical search problem.
Our experimental results demonstrate that FuseBot outperforms state of the art vision based system’s efficiency by more than 40% in terms of the number of actions required for successful mechanical search.