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Collaborative creation of indoor maps

  • US 10,352,707 B2
  • Filed: 07/14/2017
  • Issued: 07/16/2019
  • Est. Priority Date: 03/14/2013
  • Status: Active Grant
First Claim
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1. A computer-implemented method for generating a building map, the method comprising:

  • receiving sensor data from each tracked device among a plurality of tracked devices, the sensor data comprising location data and inertial sensor data;

    generating motion data based on the sensor data, the motion data indicative of a path taken by a user associated with the tracked device;

    inferring at least one motion from the motion data;

    inferring one or more building features, including a location and a location error bound of each inferred building feature, wherein the inferred building features are based on;

    the location data, the at least one motion, and associated descriptive information;

    generating a graphical feature map indicative of user movement by spatially and temporally linking inferred building features based on a time of discovery, the inferred location, and the location error bound of each inferred building feature;

    merging the graphical feature maps from each tracked device to generate a building map comprising building features merged from one or more inferred building features; and

    determining a location of each building feature based on a weighted average of the inferred locations and the location error bounds of the one or more associated inferred building features.

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