Abstract: A system for taking inventory of objects and estimating the position of objects comprising RFID tags, the system comprising: at least one RFID reader moveable in a given space and suitable for detecting RFID tags in the given space; means for estimating the position and/or orientation of the RFID reader in the given space, comprising at least means external to the RFID reader for measuring the position and/or orientation of the RFID reader; means for estimating the position of the RFID tags with respect to the RFID reader; the system being adapted to estimate the position of the objects in the given space using the estimated position of the RFID tags with respect to the RFID reader and the estimated position and/or orientation of the RFID reader in the given space; and the system being adapted to take inventory of the objects using at least information on detected RFID tags.

Abstract: Moveable platform for taking inventory of objects comprising RFID tags in a storage space, wherein the platform comprises a navigation system, adapted to automatically navigate the platform, and a sensor system, adapted to identify objects to which RFID tags are attached in the storage space, wherein the sensor system comprises at least one antenna, wherein the sensor system is adapted to identify objects in the storage space while the platform moves through the storage space and wherein a control unit is provided that is adapted to control the navigation system in response to information obtained by the sensor system.