Coarse relocalization using signal fingerprints
First Claim
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1. A computing device, comprising:
- a processor;
a display;
a memory operatively coupled to the processor and the display; and
a fingerprint program stored in the memory and executed by the processor of the computing device, whereinthe fingerprint program is configured to;
receive signal fingerprint data comprising a plurality of map data and a fingerprint linked to each of the plurality of map data, each fingerprint comprising one or a plurality of signals from one or a plurality of signal sources for each of the plurality of map data;
receive one or a plurality of signals from the one or the plurality of signal sources by at least one sensor of the computing device;
generate a current signal fingerprint based on the received signals;
determine map data to load by comparing the current signal fingerprint against the signal fingerprint data to generate a ranked list of matching fingerprints, including performing a statistical analysis to evaluate for proximity or degree of disambiguation of the current signal fingerprint to the signal fingerprint data; and
based on the ranked list, retrieve corresponding map data corresponding to the matching fingerprints in the ranked list.
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Abstract
A computing device and method are provided for accelerating the coarse relocalization process of the computing device by generating a current fingerprint using signal data detected by sensors, statistically analyzing the current fingerprint for proximity to candidate fingerprints in fingerprint data to generate a ranked list, and subsequently retrieving map data corresponding to the closest matching fingerprints in the ranked list. The computing device may comprise a processor, a memory operatively coupled to the processor, and a fingerprint program stored in the memory and executed by the processor.
68 Citations
20 Claims
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1. A computing device, comprising:
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a processor; a display; a memory operatively coupled to the processor and the display; and a fingerprint program stored in the memory and executed by the processor of the computing device, wherein the fingerprint program is configured to; receive signal fingerprint data comprising a plurality of map data and a fingerprint linked to each of the plurality of map data, each fingerprint comprising one or a plurality of signals from one or a plurality of signal sources for each of the plurality of map data; receive one or a plurality of signals from the one or the plurality of signal sources by at least one sensor of the computing device; generate a current signal fingerprint based on the received signals; determine map data to load by comparing the current signal fingerprint against the signal fingerprint data to generate a ranked list of matching fingerprints, including performing a statistical analysis to evaluate for proximity or degree of disambiguation of the current signal fingerprint to the signal fingerprint data; and based on the ranked list, retrieve corresponding map data corresponding to the matching fingerprints in the ranked list. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method comprising:
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receiving signal fingerprint data comprising a plurality of map data and a fingerprint linked to each of the plurality of map data, each fingerprint comprising one or a plurality of signals from one or a plurality of signal sources for each of the plurality of map data; receiving one or a plurality of signals from the one or the plurality of signal sources by at least one sensor; generating a current signal fingerprint based on the received signals; determining which map data to load by comparing the current signal fingerprint against the signal fingerprint data to generate a ranked list of matching fingerprints, including performing a statistical analysis to evaluate for proximity or degree of disambiguation of the current signal fingerprint to the signal fingerprint data; and based on the ranked list, retrieving corresponding map data corresponding to the matching fingerprints in the ranked list. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A server computing device, comprising:
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a processor; a memory operatively coupled to the processor; signal fingerprint data stored in the memory; and a fingerprint program stored in the memory and executed by the processor of the computing device, wherein the fingerprint program is configured to; receive a current signal fingerprint generated by a mobile device based on one or a plurality of signals from one or a plurality of signal sources received by at least one sensor of the mobile device; determine which map data to send to the mobile device by comparing the current signal fingerprint against signal fingerprint data to generate a ranked list of matching fingerprints, including performing a statistical analysis to evaluate for proximity or degree of disambiguation of the current signal fingerprint to the signal fingerprint data; and based on the ranked list, send to the mobile device corresponding map data corresponding to the matching fingerprints in the ranked list.
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Specification