deletions | additions       diff --git a/section_Concept_of_Smart_Floor__.tex b/section_Concept_of_Smart_Floor__.tex  index d6e9397..2c27067 100644  --- a/section_Concept_of_Smart_Floor__.tex  +++ b/section_Concept_of_Smart_Floor__.tex 
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Indoor localization is one of the most challenging and important tasks of various systems. Especially in the domain of assistive robotic systems, intelligent space and smart environments. Methods that utilize cameras and/or laser range finders require complex recognition algorithms which can then in turn consume a lot of processing power. A smart floor alleviates this kind of problem.  There are several ways of how to implement a smart floor. One way is to utilize pressure sensors. Examples of this approach are described in \cite{Mori_2004} and \cite{Orr_2000} where pressure sensors were used to detect and track users in the testing environment.  Equiping an entire floor with pressure sensors can be time and resource consuming in and on itself as every tile needs to able to send its data to the system. Additionally as pointed out in \cite{Mori_2004} pressure sensors have trouble tracking multiple people near each other and differentiating between them.  This problem can be solved by opting to use RFID (Radio-frequency identification) technology instead. RFID relies on the wireless transfer of data using electromagnetic fields. RFID tags contain stored information which can then be accessed with an appropriate reader (fig2). (\ref{fig:fig2}).  Some tags are powered by electromagnetic induction from magnetic fields produced near the reader. Some types collect energy from the interrogating radio waves and act as a passive transponder. Other types have a local power source such as a battery and may operate at hundreds of meters from the reader. This approach was also explored in \cite{K_mpke_2008}, \cite{Johansson_2009}, \cite{Ku_2011} and \cite{khaliqstigmergic}.