Method and system of pedestrian localization

• US 10,145,689 B1
• Filed: 03/02/2018
• Issued: 12/04/2018
• Est. Priority Date: 03/02/2018
• Status: Active Grant

• Current Assignee: Mapsted Corp.
• Original Assignee: Mapsted Corp.
• Inventors: Huberman, Sean, Bavand, Majid, Nagpal, Paramvir Singh
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/910,080
• Time in Patent Office: 277 Days
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G06F 12/0862 with prefetch
• CPC Class Codes: G06F 2212/1008 Correctness of operation, e.g. memory ordering
• CPC Class Codes: G06F 2212/1021 Hit rate improvement
• CPC Class Codes: G06F 2212/602 Details relating to cache prefetching
• CPC Class Codes: G06F 2212/6024 History based prefetching
• CPC Class Codes: G06V 40/1365 Matching; Classification
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings

Abstract

A method and system localizing a mobile device along a pedestrian route traversed in an indoor area, the mobile device including a processor and a memory. The method executed in the processor and comprises localizing the mobile device to an estimated first position within the indoor area based on accessing, from a first memory tier of the memory, a first portion fingerprint data that includes fingerprint data of a first subset area of the indoor area, the first subset area at least partly surrounding the estimated first position, detecting a traversal of the mobile device along the route to an estimated second position within the indoor area, and when a difference between the estimated first and second positions exceeds a threshold distance, replacing the first portion fingerprint data of the first memory tier upon pre-fetching a second portion fingerprint data, the second portion fingerprint data including fingerprint data of a second subset area of the indoor area, the second subset area at least partly surrounding the estimated second position.

Claims

1. A method of localizing a mobile device along a pedestrian route traversed in an indoor area, the mobile device including a processor and a memory, the method executed in the processor and comprising:

localizing the mobile device to an estimated first position within the indoor area based on accessing, from a first memory tier of the memory, a first portion fingerprint data that includes fingerprint data of a first subset area of the indoor area, the first subset area at least partly surrounding the estimated first position, wherein the fingerprint data comprises a plurality of portions, each of the plurality of portions corresponding to a subset area of the indoor area, and wherein the first memory tier includes the first portion of the plurality of portions of the fingerprint data and a second memory tier of the memory includes one or more of remaining portions of the plurality of portions of the fingerprint data;

detecting a traversal of the mobile device along the route to an estimated second position within the indoor area; and

when a difference between the estimated first and second positions exceeds a threshold distance, replacing the first portion fingerprint data of the first memory tier upon pre-fetching a second portion fingerprint data from the second memory tier, the second portion fingerprint data including fingerprint data of a second subset area of the indoor area, the second subset area at least partly surrounding the estimated second position.

2. The method of claim 1 wherein the replacing further comprises releasing the first portion fingerprint data from the first memory tier into the second memory tier.

3. The method of claim 1 wherein the first memory tier comprises a first random access memory.

4. The method of claim 1 wherein the second memory tier consists of at least one of a second random access memory and a flash memory communicatively coupled to the processor.

5. The method of claim 1 wherein the first subset area at least partly surrounding the estimated first position is arranged generally concentrically surrounding the estimated first position.

6. The method of claim 1 wherein further comprising assigning a respective confidence level associated with the estimated first and second positions.

7. The method of claim 6 wherein a respective spatial size of the first and the second subset areas increases as the assigned respective confidence level decreases.

8. The method of claim 7 further comprising performing the replacing in accordance with a dynamically determined threshold that is based on the respective spatial size of the first and second subset areas.

9. The method of claim 1 wherein the estimated second position comprises a predetermined landmark within the indoor area, the second portion fingerprint data comprises fingerprint data of multiple floor portions of the indoor area that generally concentrically surround the predetermined landmark, and further comprising pre-fetching the fingerprint data of the multiple floor portions into the first memory tier.

10. A system for localizing a mobile device within an indoor area, the system comprising:

a processor;

a memory storing a set of instructions, the instructions executable in the processor to;

localize the mobile device to an estimated first position within the indoor area based on accessing, from a first memory tier of the memory, a first portion fingerprint data that includes fingerprint data of a first subset area of the indoor area, the first subset area at least partly surrounding the estimated first position, wherein the fingerprint data comprises a plurality of portions, each of the plurality of portions corresponding to a subset area of the indoor area, and wherein the first memory tier includes the first portion of the plurality of portions of the fingerprint data and a second memory tier of the memory includes one or more of remaining portions of the plurality of portions of the fingerprint data;

detect a traversal of the mobile device along the route to an estimated second position within the indoor area; and

when a difference between the estimated first and second positions exceeds a threshold distance, replace the first portion fingerprint data of the first memory tier upon pre-fetching a second portion fingerprint data from the second memory tier, the second portion fingerprint data including fingerprint data of a second subset area of the indoor area, the second subset area at least partly surrounding the estimated second position.

11. The system of claim 10 wherein the replacing further comprises releasing the first portion fingerprint data from the first memory tier into the second memory tier.

12. The system of claim 10 wherein the first memory tier comprises a first random access memory.

13. The system of claim 10 wherein the second memory tier consists of at least one of a second random access memory and a flash memory communicatively coupled to the processor.

14. The system of claim 10 wherein the first subset area at least partly surrounding the estimated first position is arranged generally concentrically surrounding the estimated first position.

15. The system of claim 10 wherein comprising assigning a respective confidence level associated with the estimated first and second positions.

16. The system of claim 15 wherein a respective spatial size of the first and the second subset areas increases as the assigned respective confidence level decreases.

17. The system of claim 16 further comprising performing the replacing in accordance with a dynamically determined threshold that is based on the respective spatial size of the first and second subset areas.

18. The system of claim 10 wherein the estimated second position comprises a predetermined landmark within the indoor area, the second portion fingerprint data comprises fingerprint data of multiple floor portions of the indoor area that generally concentrically surround the predetermined landmark, and further comprising pre-fetching the fingerprint data of the multiple floor portions into the first memory tier.