Security-Oriented Indoor Robots Tracking: An Object Recognition Viewpoint

Indoor robots, in particular AI-enhanced robots, are enabling a wide range of beneficial applications. However, great cyber or physical damages could be resulted if the robots’ vulnerabilities are exploited for malicious purposes. Therefore, a continuous active tracking of multiple robots’ positions is necessary. From the perspective of wireless communication, indoor robots are treated as radio sources. Existing radio tracking methods are sensitive to indoor multipath effects and error-prone with great cost. In this backdrop, this paper presents an indoor radio sources tracking algorithm. Firstly, an RSSI (received signal strength indicator) map is constructed based on the interpolation theory. Secondly, a YOLO v3 (You Only Look Once Version 3) detector is applied on the map to identify and locate multiple radio sources. Combining a source’s locations at different times, we can reconstruct its moving path and track its movement. Experimental results have shown that in the typical parameter settings, our algorithm’s average positioning error is lower than 0.39 m, and the average identification precision is larger than 93.18% in case of 6 radio sources.