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Navigation using sensor fusion

  • US 10,641,613 B1
  • Filed: 06/24/2019
  • Issued: 05/05/2020
  • Est. Priority Date: 03/14/2014
  • Status: Active Grant
First Claim
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1. A computer-implemented method comprising:

  • receiving, at a user device, data from two or more sensors included in the user device, the two or more sensors comprising a camera and an accelerometer;

    synchronizing the received data from the two or more sensors so that the data from the camera corresponds in time to the data from the other sensor;

    determining a first subset of the synchronized data from the camera for a particular period of time and a second subset of the synchronized data from the other sensor for the particular period of time, the first subset of the synchronized data and the second subset of the synchronized data each being representative of movement of the user device and the first subset of the synchronized data being representative of objects in a physical area surrounding a particular physical location of the user device;

    determining, from the first subset of synchronized data and the second subset of synchronized data, a plurality of feature points for a respective plurality of locations of the physical area; and

    storing, as map data, the plurality of feature points and the respective plurality of locations of the physical area, the map data describing respective locations objects corresponding to the feature points in the physical area.

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