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SELF-LOCALIZATION AND SELF-ORIENTATION OF A CEILING-MOUNTED DEVICE

  • US 20130250101A1
  • Filed: 05/16/2013
  • Published: 09/26/2013
  • Est. Priority Date: 10/17/2007
  • Status: Active Grant
First Claim
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1. A ceiling-mounted device operable for self-localization within an indoor environment, the device comprising:

  • a memory including a floor plan of the environment and including a plurality of fixed reference indicia having known locations with respect to an origin point of the environment;

    a housing encapsulating the device and being disposed on a ceiling within the environment;

    a light source installed within the housing;

    an imaging device installed within the housing; and

    a processor installed within the housing and coupled to the memory, light source, and camera, the processor operable to;

    direct the light source to project a light beam downward from the device to a floor of the environment to produce a projection on the floor,direct the imaging device to capture an image of the floor including the projection and at least two reference indicia, anddetermine a location of the device with respect to the origin using the projection and at least two reference indicia.

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