Method and System for Signal-based Localization
First Claim
1. A computer-implemented method for localization using signal-strength measurements, comprising:
- obtaining a set of signal-strength measurements;
performing simultaneous localization and mapping computations on the set of signal-strength measurements,wherein the simultaneous and localization mapping computations make no assumptions on signature uniqueness; and
computing a location from the simultaneous localization and mapping computations.
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Abstract
In an embodiment of the present invention, a GraphSLAM-like algorithm for signal strength SLAM is presented. This algorithm as an embodiment of the present invention shares many of the benefits of Gaussian processes yet is viable for a broader range of environments since it makes no signature uniqueness assumptions. It is also more tractable to larger map sizes, requiring O(N2) operations per iteration. In the present disclosure, an algorithm according to an embodiment of the present invention is compared to a laser-SLAM ground truth, showing that it produces excellent results in practice.
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Citations
21 Claims
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1. A computer-implemented method for localization using signal-strength measurements, comprising:
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obtaining a set of signal-strength measurements; performing simultaneous localization and mapping computations on the set of signal-strength measurements, wherein the simultaneous and localization mapping computations make no assumptions on signature uniqueness; and computing a location from the simultaneous localization and mapping computations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computer-readable medium including instructions that, when executed by a processing unit, cause the processing unit to implement a method for localization using signal-strength measurements, comprising:
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obtaining a set of signal-strength measurements; performing simultaneous localization and mapping computations on the set of signal-strength measurements, wherein the simultaneous and localization mapping computations make no assumptions on signature uniqueness; and computing a location from the simultaneous localization and mapping computations. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A computing device comprising:
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a data bus; a memory unit coupled to the data bus; at least one processing unit coupled to the data bus and configured to obtain a set of signal-strength measurements; perform simultaneous localization and mapping computations on the set of signal-strength measurements, wherein the simultaneous and localization mapping computations make no assumptions on signature uniqueness; and compute a location from the simultaneous localization and mapping computations.
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Specification