0.8 0.8 0 04 02 01 2 0.8 12 0.8 2 Box Box Distance(m) Distance(m Fig.17. Accuracy for different Fig.18.Angle error for different Fig.19. Accuracy for different Fig.20. Angle error for different boxes boxes distances distances 0 0.8 0. 0.6 0.6 0.4 0.2 0.2 -RF-3DScan 0.2 -RF-3DScan 02 F-3DSea -STPP -STPP 0 101520 25 8 12 Number of Boxes Box Distance Angle Error (deg.) Angle Error (deg.) Fig.21. Accuracy for package Fig.22. Accuracy for different Fig.23.CDF of angle error for Fig.24.CDF of angle error for stacking cases different boxes different distances IX.CONCLUSION [6]T.Wei and X.Zhang.Gyro in the Air:Tracking 3D Orientation of In this paper,we present RF-3DScan,an RFID-based system Batteryless Internet-of-Things,in Proc.of ACM MOBICOM,2016. to perform 3D reconstruction on tagged packages.RF-3DScan [7]J.Wang and D.Katabi,Dude.where's my card?:RFID Positioning That Works with Multipath and Non-Line of Sight.in Proc.of ACM can determine the package orientation for a single package SIGCOMM,2013. with the 1-dimensional mobile scanning,and determine the [8]L.Yang.Q.Lin,X.Li.C.Xiao,M.Li and Y.Liu,See Through Walls with COTS RFID Systems,in Proc.of ACM MOBICOM,2015. package stacking for multiple packages with the 2-dimensional [9]W.Ruan.L.Yao.Q.Sheng.N.Falkner and X.Li.TagTrack:Device-free mobile scanning.The key innovation of this work is that we Localization and Tracking Using Passive RFID Tags,in Proc.of ACM propose an angle-profile-based measurement for the relative MOBIOUITOUS.2014. [10]L.Yang.Y.Chen,X.Li,C.Xiao,M.Li,and Y.Liu,Tagoram:Real-time localization.and we show the solution to use the relative Tracking of Mobile RFID Tags to High Precision Using COTS Devices, positions of the tags on the packages to reconstruct the in Proc.of ACM MOBICOM,2014. packages in the 3D space.In the future,we will further [11]J.Wang.F.Adib,R.Knepper,D.Katabi and D.Rus,RF-Compass: Robot Object Manipulation Using RFIDs,in Proc.of ACM MOB/COM. improve our approach,and we wish our work can benefit the 2013. logistic-related applications. [12]J.Wang,D.Vasisht and D.Katabi,RF-IDraw:Virtual Touch Screen in the Air Using RF Signals,in Proc.of ACM S/GCOMM,2014. ACKNOWLEDGMENT (13]L.Shangguan,Z.Yang.A.X.Liu,Z.Zhou and Y.Liu,STPP: This work is supported in part by National Natural Science Spatial-Temporal Phase Profiling-Based Method for Relative RFID Tag Localization,in IEEE/ACM Transactions on Networking (ToN),vol.25 Foundation of China under Grant Nos.61472185.61373129. no.1,Pp.596-609,2017. 61321491,61502224;JiangSu Natural Science Foundation [14]L.Xie,J.Sun,Q.Cai.C.Wang.J.Wu and S.Lu,Tell Me What I under Grant No.BK20151390.This work is partially sup- See:Recognize RFID Tagged Objects in Augmented Reality Systems,in ported by Collaborative Innovation Center of Novel Software Proc.of ACM UBICOMP.2016. [15]J.Nickels,P.Knierim,B.Koenings,F.Schaub,B.Wiedersheim, Technology and Industrialization.Lei Xie is the corresponding S.Musiol,and M.Weber,Find My Stuff:Supporting Physical Objects author. 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