CAMERA-BASED POSITION LOCATION AND NAVIGATION BASED ON IMAGE PROCESSING
First Claim
1. A method for calibrating navigation in a mobile device comprising a camera, the method comprising:
- providing an initial position;
detecting an SAS (self-addressing source);
determining a first vector V1 between the SAS and a reference point;
determining an SAS pose relative to the reference point;
determining a second vector V2 of the mobile device relative to the SAS;
computing a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2; and
recalibrating a current position of the mobile device based on the third vector V3.
3 Assignments
0 Petitions
Accused Products
Abstract
An apparatus and method for estimating a position of a mobile device based on one or more images is disclosed. Positioning information is derived from an image containing an SAS (self-addressing source such as a QR code), thereby setting a first vector V1 and an SAS pose. The image is also used to determine a displacement between the mobile device and the self-addressing source, thereby setting a second vector V2. Using the first vector V1, the SAS pose and the second vector V2, the mobile device may estimate its position with high accuracy and may also recalibrate dead-reckoning navigation and a gyrometer.
110 Citations
45 Claims
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1. A method for calibrating navigation in a mobile device comprising a camera, the method comprising:
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providing an initial position; detecting an SAS (self-addressing source); determining a first vector V1 between the SAS and a reference point; determining an SAS pose relative to the reference point; determining a second vector V2 of the mobile device relative to the SAS; computing a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2; and recalibrating a current position of the mobile device based on the third vector V3. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A mobile device comprising a camera and a navigation system, the mobile device comprising:
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means for providing an initial position; means for detecting an SAS (self-addressing source); means for determining a first vector V1 between the SAS and a reference point; means for determining an SAS pose relative to the reference point; means for determining a second vector V2 of the mobile device relative to the SAS; means for computing a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2; and means for recalibrating a current position of the mobile device based on the third vector V3.
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25. A mobile device comprising a processor and a memory wherein the memory includes software instructions to:
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provide an initial position; detect an SAS (self-addressing source); determine a first vector V1 between the SAS and a reference point; determine an SAS pose relative to the reference point; determine a second vector V2 of the mobile device relative to the SAS; compute a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2; and recalibrate a current position of the mobile device based on the third vector V3.
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26. A computer-readable storage medium including program code stored thereon for a mobile device, the program code comprising code to:
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provide an initial position; detect an SAS (self-addressing source); determine a first vector V1 between the SAS and a reference point; determine an SAS pose relative to the reference point; determine a second vector V2 of the mobile device relative to the SAS; and compute a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2.
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27. A method for determining a position of a mobile device comprising a camera, the method comprising:
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detecting an SAS (self-addressing source); determining a first vector V1 between the SAS and a reference point; determining an SAS pose relative to the reference point; determining a second vector V2 of the mobile device relative to the SAS; computing a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2; and computing a current position of the mobile device based on the third vector V3. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42)
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43. A mobile device comprising a camera, the mobile device comprising:
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means for detecting an SAS (self-addressing source); means for determining a first vector V1 between the SAS and a reference point; means for determining an SAS pose relative to the reference point; means for determining a second vector V2 of the mobile device relative to the SAS; and means for computing a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2.
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44. A mobile device comprising a processor and a memory wherein the memory includes software instructions to:
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detect an SAS (self-addressing source); determine a first vector V1 between the SAS and a reference point; determine an SAS pose relative to the reference point; determine a second vector V2 of the mobile device relative to the SAS; and compute a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2.
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45. A computer-readable storage medium including program code stored thereon for a mobile device, the program code comprising code to:
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detect an SAS (self-addressing source); determine a first vector V1 between the SAS and a reference point; determine an SAS pose relative to the reference point; determine a second vector V2 of the mobile device relative to the SAS; and compute a third vector V3 of the mobile device based on the first vector V1, the SAS pose and the second vector V2.
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Specification