Beyond One-dollar Mouse: A Battery-free Device for 3D

Human-Computer Interaction via RFID Tags

Qiongzheng LinLei Yang,Yuxin Sun,Tianci Liu,Xiang-Yang Li,Yunhao Liu

Tsinghua University,ChinaIIT,USA

Outline

• Motivation

• System Design

• Evaluation and Implementation

• Conclusion

Motivation

1.1 Mouse

1968

1981

1982

1984

1996

2000

2003 …

In computing, a mouse is a pointing device that detects two-dimensional motion relative to a surface.

1.2 3D Application

3D Human-Computer Interaction Devices

1.3.1 Existing SystemsComputer vision based methods

Affected by Light

1.3.2 Existing SystemsSensor based methods

Professional Equipment

1.3.3 Existing SystemsWi-Fi based methods

Wi-Vi (Sigcomm’13)

Inverse synthetic aperture radar

(ISAR)

Left and right movement trend

E-eyes (MobiCom’14)Based on CSI

fingerprint

Tedious manual labor on

Fingerprint collection

Wiz (NSDI’15)

Based on distance measurement

FMCWProfessional Equipment

Body Level Action

1.4 Objectives

System Design

2.1 System Architecture

2.2 Definition of Ball State

S=

𝒪𝑥𝒪𝑦𝒪𝑧

Φ𝑧

Φx

Φ y

Problem: Tracking the Ball State

2.3 Estimating Initial Ball State

𝜃=4𝜋

𝑑𝜆𝑚𝑜

𝑑2𝜋

2.4 Tracing Ball StateΧ (t)=[𝒪 (t )Φ (t ) Δ𝒪 (t ) ΔΦ (t ) ]T

2.5 Smoothing Ball State

Kalman Filter

• Compute

• Real-time, given data so far

Kalman Smoother

• Compute

• Post-processing, given all data

V.S.

Rauch-Tung-Striebel (RTS)

smoother

Evaluation and Implementation

3.1 System Implementation

We attach 12 tags on a cube and

embed the cube inside a plastic ball

We employ an ImpinJ Speedway

modelledR420 reader

We adopt Low Level Reader

Protocol (LLRP) tocommunicate with

the reader

We useLeapMotion to

capture the ground truth of Rotation

3.2.1 Translation Accuracy

1.5cm

0.5cm

0.7cm

3.2.2 Rotation Accuracy

1.8°

3.3 Effect of Parameter

3.3 Effect of Parameter

3.3 Effect of Parameter

3.3 Effect of Parameter

Conclusion

• We present an RFID-based device for human-computer interaction in 3D space

• Our key innovation is study on motion behaviors of a group of tags by using Extended Kalman Filter

• The implementation is based on purely COTS RFID products

Contributions

Thank You!