Intelligent geo-fencing with tracked and fenced objects
First Claim
Patent Images
1. A method for tracking an object having associated shape information, the method comprising:
- detecting establishment of communications between at least one of a plurality of fence nodes associated with a fence network and at least one of a plurality transient nodes associated with a tracked object;
estimating distances between at least two of the plurality transient nodes and at least two of the plurality of fence nodes;
determining a pose of the tracked object in a fence coordinate system associated with the fence network using the estimated distances, wherein the pose includes a position of the tracked object and an orientation of the tracked object; and
determining a disposition of the tracked object relative to a fence associated with the fence network based on the determined pose and on the shape information associated with the tracked object.
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Abstract
A fence system can determine positions and orientations of objects. The fence system may include fence associated with a fence network that has a plurality of fence nodes. The locations of the fence nodes and fence are defined in a fence coordinate system. A tracked object has a plurality of transient nodes. The fence network may determine the position and orientation of the tracked object based on estimated distances between at least two of the plurality transient nodes and at least two of the plurality of fence nodes. The system may also include a second fence associated fenced object that also has a plurality of transient nodes.
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Citations
16 Claims
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1. A method for tracking an object having associated shape information, the method comprising:
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detecting establishment of communications between at least one of a plurality of fence nodes associated with a fence network and at least one of a plurality transient nodes associated with a tracked object; estimating distances between at least two of the plurality transient nodes and at least two of the plurality of fence nodes; determining a pose of the tracked object in a fence coordinate system associated with the fence network using the estimated distances, wherein the pose includes a position of the tracked object and an orientation of the tracked object; and determining a disposition of the tracked object relative to a fence associated with the fence network based on the determined pose and on the shape information associated with the tracked object. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for tracking an object having associated shape information with respect to a fence associated with another object, the method comprising:
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detecting establishment of communications between at least one of a plurality of fence nodes associated with a fence network and at least one of a plurality transient nodes associated with a tracked object; estimating distances between at least two of the plurality transient nodes associated with the tracked object and at least two of the plurality of fence nodes; determining a pose of the tracked object using the estimated distances, wherein the pose includes a position of the tracked object and an orientation of the tracked object, and wherein the pose of the tracked object is determined in a fence coordinate system associated with the fence network; detecting establishment of communications between at least one of the plurality of fence nodes and at least one of a plurality transient nodes associated with a fenced object; estimating distances between at least two of the plurality transient nodes associated with the fenced object and at least two of the plurality of fence nodes; determining a pose of the fenced object using the estimated distances, wherein the pose includes a position of the fenced object and an orientation of the fenced object, and wherein the pose of the fenced object is determined in the fence coordinate system associated with the fence network; and determining a disposition of the tracked object relative to a fence associated with the fenced object based on the determined pose of the tracked object and the determined pose of the fenced object. - View Dependent Claims (8)
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9. A fence system, comprising:
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a fence network associated with a first fence in a fence coordinate system, the fence network having a first plurality of fence nodes having locations defined in the fence coordinate system; and a tracked object having a first plurality of transient nodes and associated shape information, wherein the fence system is configured to determine a pose of the tracked object using estimated distances between at least two of the first plurality transient nodes and at least two of the plurality of fence nodes, the pose including a position and an orientation of the tracked object in the fence coordinate system, wherein the fence system is further configured to determine a disposition of the tracked object relative to the first fence based on the determined pose and on the shape information associated with the tracked object. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification