Methods and apparatus for locating RFID tags

1. A method of monitoring a radio-frequency identification (RFID) tag, the method comprising:

receiving, with a plurality of antennas, a plurality of RFID signals from the RFID tag over a period of time, the plurality of RFID signals including a line-of-sight (LOS) signal received along an LOS path between at least one antenna in the plurality of antennas and the RFID tag and a non-line-of-sight (NLOS) signal received along an NLOS path between the at least one antenna in the plurality of antennas and the RFID tag;

estimating a plurality of possible trajectories of the RFID tag over the period of time based on the plurality of RFID signals, the plurality of possible trajectories comprising a first trajectory based on the LOS signal and a second trajectory based on the NLOS signal; and

identifying the first trajectory in the plurality of possible trajectories as corresponding to the LOS path between the plurality of antennas and the RFID tag based on at least one of a shape of the first trajectory, a shape of the second trajectory, or a velocity associated with the second trajectory.

2. The method of claim 1 , wherein receiving the plurality of RFID signals from the RFID tag occurs at a rate of at least 0.1 Hz.

3. The method of claim 1 , further comprising:

identifying the second trajectory in the plurality of possible trajectories as corresponding to the NLOS path based on at least one of a shape of the first trajectory, a shape of the second trajectory, or a velocity associated with the second trajectory.

4. The method of claim 3 , wherein identifying the second trajectory comprises identifying a discontinuity in the second trajectory.

5. The method of claim 1 , wherein the RFID tag is on an item for sale in a store, and further comprising:

determining that a customer is carrying the item for sale toward an exit of the store based on the first trajectory; and

triggering a sale of the item at a point in time based on the first trajectory.

6. The method of claim 5 , further comprising:

triggering restocking of the item for sale in response to the sale of the item.

7. The method of claim 1 , further comprising:

acquiring, with a camera, image data of an area containing the first trajectory of the RFID tag;

identifying a person moving through the area containing the first trajectory of the RFID tag; and

correlating motion of the person moving through the area with the first trajectory of the RFID tag.

8. The method of claim 1 , further comprising:

identifying, based on the plurality of RFID signals and the first trajectory, a stationary RFID tag; and

designating the stationary RFID tag as a virtual reference tag.

9. The method of claim 1 , further comprising:

displaying, on a graphical user interface of a mobile device, the first trajectory of the RFID tag in real time.

10. The method of claim 1 , further comprising:

alerting, via a mobile device, a user to arrival of the RFID tag at a desired location based on the first trajectory of the RFID tag.

11. The method of claim 1 , further comprising:

determining motion of a pixel blob in video imagery of an object associated with the RFID tag;

correlating motion of the pixel blob to first trajectory of the RFID tag; and

training an artificial neural network to recognize the pixel blob as the object.

12. The method of claim 11 , wherein the object is one of a nametag, wristband, or ID card and the pixel blob represents a person associated with the nametag, wristband, or ID card.

13. The method of claim 11 , further comprising:

recognizing, by the artificial neural network, at least one of a light fixture, door, or shopping cart in a frame of the video imagery; and

marking the frame in the video imagery containing the at least one of a light fixture, door, or shopping cart as an occluded frame.

14. The method of claim 7 , further comprising:

triggering sale of an item attached to the RFID tag based on correlation of the first trajectory of the RFID tag with motion of the person.

15. The method of claim 1 , wherein the RFID tag is in a store, and further comprising:

acquiring, at a first time, a first image of a person in the store;

acquiring, at a second time after the first time, a second image of the person in the store;

determining, based on the first image, that the person is at a first location in the store at the first time;

determining, based on the second image, that the person is at a second location in the store at the second time, the second location being more than 1 meter from the first location;

determining, based on at least one of the plurality of trajectories, that the RFID tag is at the first position at the first time and at the second position at the second time; and

determining that the person is carrying the RFID tag based on the person and the RFID tag being at the first position at the first time and the second position at the second time.

16. The method of claim 15 , further comprising:

determining, with the plurality of antennas, that the RFID tag has not moved for a period of time; and

determining that the person is no longer carrying the RFID tag based on the RFID tag not moving for the period time.

17. The method of claim 1 , wherein identifying the first trajectory in the plurality of possible trajectories as corresponding to the LOS path comprises:

determining that the velocity associated with the second trajectory is greater than a predefined velocity.

18. The method of claim 1 , wherein identifying the first trajectory in the plurality of possible trajectories as corresponding to the LOS path comprises:

determining that the shape of the first trajectory is smooth and that the shape of the second trajectory is rough and/or discontinuous.