SYSTEM AND METHOD FOR LOCALIZING A TRACKEE AT A LOCATION AND MAPPING THE LOCATION USING INERTIAL SENSOR INFORMATION
First Claim
1. A computer-implemented method of localizing a trackee at a location and generating or updating a map of the location based on inertial sensor information, the method being implemented on a computer system that includes one or more physical processors programmed by one or more modules, the method comprising:
- identifying, by a feature detection module, at least one sensor feature based on inertial sensor information that includes a plurality of measurements that measure a motion of the trackee at the location, the at least one sensor feature being identified based on a first subset of the plurality of measurements;
correlating, by the feature detection module, the at least one sensor feature with a structural feature of the location;
determining, by a localization and mapping module, a location estimate that estimates a location of the trackee based on at least a second subset of the plurality of measurements that is the same as or different from the first subset of the plurality of measurements, wherein a position of the structural feature is determined based on the location estimate; and
generating or updating, by the localization and mapping module, a map of the location based on the structural feature.
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Accused Products
Abstract
A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.
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Citations
25 Claims
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1. A computer-implemented method of localizing a trackee at a location and generating or updating a map of the location based on inertial sensor information, the method being implemented on a computer system that includes one or more physical processors programmed by one or more modules, the method comprising:
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identifying, by a feature detection module, at least one sensor feature based on inertial sensor information that includes a plurality of measurements that measure a motion of the trackee at the location, the at least one sensor feature being identified based on a first subset of the plurality of measurements; correlating, by the feature detection module, the at least one sensor feature with a structural feature of the location; determining, by a localization and mapping module, a location estimate that estimates a location of the trackee based on at least a second subset of the plurality of measurements that is the same as or different from the first subset of the plurality of measurements, wherein a position of the structural feature is determined based on the location estimate; and generating or updating, by the localization and mapping module, a map of the location based on the structural feature. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for localizing a trackee at a location and generating or updating a map of the location based on inertial sensor information, the system comprising:
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one or more processors configured to execute computer program modules, the computer program modules comprising; a feature detection module programmed to; identify at least one sensor feature based on inertial sensor information that includes a plurality of measurements that measure a motion of the trackee at the location, the at least one sensor feature being identified based on a first subset of the plurality of measurements; correlate the at least one sensor feature with a structural feature of the location; and a localization and mapping module programmed to; determine a location estimate that estimates a location of the trackee based on at least a second subset of the plurality of measurements that is the same as or different from the first subset of the plurality of measurements, wherein a position of the structural feature is determined based on the location estimate; and generate or update a map of the location based on the structural feature. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A computer readable storage media comprising executable code for localizing a trackee at a location and generating or updating a map of the location based on inertial sensor information, the computer executable code, when executed by one or more processors, causing the one or more processors to:
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identify at least one sensor feature based on inertial sensor information that includes a plurality of measurements that measure a motion of the trackee at the location, the at least one sensor feature being identified based on a first subset of the plurality of measurements; correlate the at least one sensor feature with a structural feature of the location; determine a location estimate that estimates a location of the trackee based on at least a second subset of the plurality of measurements that is the same as or different from the first subset of the plurality of measurements, wherein a position of the structural feature is determined based on the location estimate; and generate or update a map of the location based on the structural feature.
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Specification