Method for sensing interior spaces to auto-generate a navigational map
First Claim
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1. In a spatial environment, a method for determining a relative position of at least one transponder, the method comprising the steps of:
- positioning a first transponder in a first location within said spatial environment;
positioning a second transponder in a second location within said spatial environment;
positioning a third transponder in a third location within said spatial environment, wherein each of said transponders comprises at least one sensor;
causing each of said first transponder, said second transponder, and said third transponder to scan said spatial environment with said at least one sensor and to measure distances within said spatial environment relative to each of said locations and determine orientation of said transponder within said spatial environment; and
each of said first transponder, said second transponder, and said third transponder composing a corresponding first local map model, second local map model and a third local map model of said spatial environment;
each of said first transponder, said second transponder, and said third transponder transmitting said first local map model, second local map model and a third local map model of said spatial environment to a first computing device;
at said first computing device, overlaying and aligning said first local map model, second local map model and a third local map model of said spatial environment to form a composite map model of said spatial environment; and
calculating said relative position of each of said first transponder, said second transponder, and said third transponder based on distance measurements from each of said transponders.
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Abstract
A method for generating a routable map of a spatial environment, the method comprising the steps of: positioning a transponder in a location within said spatial environment at least one sensor; associating at least one sensor with said transponder, said at least one sensor being rotatable in at least one plane; measuring distances within said spatial environment with said at least one sensor relative to said location; and composing a local map model of spatial environment based on said measurements.
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Citations
34 Claims
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1. In a spatial environment, a method for determining a relative position of at least one transponder, the method comprising the steps of:
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positioning a first transponder in a first location within said spatial environment; positioning a second transponder in a second location within said spatial environment; positioning a third transponder in a third location within said spatial environment, wherein each of said transponders comprises at least one sensor; causing each of said first transponder, said second transponder, and said third transponder to scan said spatial environment with said at least one sensor and to measure distances within said spatial environment relative to each of said locations and determine orientation of said transponder within said spatial environment; and
each of said first transponder, said second transponder, and said third transponder composing a corresponding first local map model, second local map model and a third local map model of said spatial environment;each of said first transponder, said second transponder, and said third transponder transmitting said first local map model, second local map model and a third local map model of said spatial environment to a first computing device; at said first computing device, overlaying and aligning said first local map model, second local map model and a third local map model of said spatial environment to form a composite map model of said spatial environment; and calculating said relative position of each of said first transponder, said second transponder, and said third transponder based on distance measurements from each of said transponders. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. In a spatial environment, a method for determining a relative position of at least one transponder of a set of transponders positioned in different locations within a spatial environment, the method comprising the steps of:
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positioning a first transponder in a first location;
positioning a second transponder in a second location;
positioning a third transponder in a third location, wherein each of said transponders comprises at least one sensor;causing said first transponder to scan said spatial environment and with said at least one sensor to measure distances within said spatial environment relative to said first location and composing a corresponding first local map model;
causing said second transponder to scan said spatial environment and with said at least one sensor to measure distances within said spatial environment relative to said second location and composing a corresponding second local map model;
causing said third transponder to scan said spatial environment and with said at least one sensor to measure distances within said spatial environment relative to said third location and composing a corresponding third local map model; and
wherein at least two of said transponders scan at least one common feature,and each of said first transponder, said second transponder, and said third transponder transmitting said first local map model, second local map model and a third local map model to said first computing device; at said first computing device, overlaying a first pair of said first local map model and said second local map model in different positions and orientations to iteratively match common features between said first pair, and determining a best match between said first local map model and said second local map model according to a predetermined match criteria; and
when said best match is determined, generating a first composite map model comprising said first local map model and said second local map model; andoverlaying a second pair of said first local map model and said third local map model in different positions and orientations to iteratively match said at least one common feature between said second pair, and determining a best match between said first local map model and said third local map model according to a predetermined match criteria; and
when said best match is determined, generating a second composite map model comprising said first local map model and said third local map model; andoverlaying a third pair of said second local map model and said third local map model in different positions and orientations to iteratively match said at least one common feature between said third pair, and determining a best match between said second local map model and said third local map model according to a predetermined match criteria; and
when said best match is determined, generating a third composite map model comprising said first local map model and said third local map model;generating a single composite map model comprising said first composite map model, said second composite map model and third composite map model; and calculating said relative position of each of said first transponder, said second transponder, and said third transponder based on distance measurements from each of said transponders. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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Specification