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Systems and methods for graph-based localization and mapping

  • US 10,356,562 B2
  • Filed: 09/10/2018
  • Issued: 07/16/2019
  • Est. Priority Date: 09/13/2016
  • Status: Active Grant
First Claim
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1. A method of performing simultaneous localization and mapping (SLAM) optimization, the method comprising:

  • receiving, by one or more processors, traces collected by multiple portable devices moving within a geographic area that includes an indoor region, each of the traces including measurements of wireless signals sources at different times by a same device, and at least some of the traces including pseudorange measurements related to distances to respective satellites; and

    generating, by the one or more processors, location estimates for the portable devices and the signal sources using graph-based SLAM optimization of the location estimates, including, for at least some of the location estimates;

    generating constraints for the pseudorange measurements, andapplying the generated constraints for the pseudorange measurements in graph-based SLAM optimization.

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