ROUTABILITY GRAPH WITH PREDETERMINED NUMBER OF WEIGHTED EDGES FOR ESTIMATING A TRAJECTORY OF A MOBILE DEVICE
First Claim
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1. A method comprising, with a mobile device:
- receiving a weight value for at least one edge connected to at least one node of a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node;
affecting a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value; and
presenting navigation information that is generated based, at least in part, on said trajectory.
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Accused Products
Abstract
Various methods, apparatuses and/or articles of manufacture are provided for use in one or more mobile devices to provide positioning based, at least in part, on a routability graph comprising a predetermined number of weighted edges for estimating a trajectory of a mobile device. Various methods, apparatuses and/or articles of manufacture are provided for use in one or more electronic devices to support mobile device positioning based, at least in part, on a routability graph comprising a predetermined number of weighted edges for estimating a trajectory of a mobile device.
39 Citations
82 Claims
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1. A method comprising, with a mobile device:
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receiving a weight value for at least one edge connected to at least one node of a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node; affecting a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value; and presenting navigation information that is generated based, at least in part, on said trajectory. - View Dependent Claims (2)
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3. An apparatus for use in a mobile device, the apparatus comprising:
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means for receiving a weight value for at least one edge connected to at least one node of a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node; means for affecting a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value; means for generating navigation information based, at least in part, on said trajectory; and means for presenting said navigation information to a user.
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4. A mobile device comprising:
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a communication interface; an output unit; one or more processing units to; receive, via said communication interface, a weight value for at least one edge connected to at least one node of a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node; affect a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value; determine navigation information based, at least in part, on said trajectory; and initiate presentation of said navigation information to a user via said output unit.
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5. An article for use by a mobile device, the article comprising:
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a non-transitory computer readable medium having stored therein computer implementable instructions executable by one or more processing units in said mobile device to; receive a weight value for at least one edge connected to at least one node of a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node; affect a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value; determine navigation information based, at least in part, on said trajectory; and initiate presentation of said navigation information to a user via an output unit.
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6. A method comprising, with a mobile device:
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obtaining a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said routability graph specifying a predetermined number of feasible paths to follow within said portion of said indoor environment, wherein at least one of said predetermined number of feasible paths is defined as passing through at least one of a plurality of nodes arranged at intersecting points of a multi-dimensional grid, and each of said plurality of nodes is interconnected to one or more neighboring nodes via at least one but no more than a threshold number of edges; obtaining a weight value for at least one edge connected to said at least one node, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node; and affecting a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An apparatus for use in a mobile device, the apparatus comprising:
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means for obtaining a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said routability graph specifying a predetermined number of feasible paths to follow within said portion of said indoor environment, wherein at least one of said predetermined number of feasible paths is defined as passing through at least one of a plurality of nodes arranged at intersecting points of a multi-dimensional grid, and each of said plurality of nodes is interconnected to one or more neighboring nodes via at least one but no more than a threshold number of edges; means for a weight value for at least one edge connected to said at least one node, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node; and means for affecting a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A mobile device comprising:
one or more processing units to; obtain a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said routability graph specifying a predetermined number of feasible paths to follow within said portion of said indoor environment, wherein at least one of said predetermined number of feasible paths is defined as passing through at least one of a plurality of nodes arranged at intersecting points of a multi-dimensional grid, and each of said plurality of nodes is interconnected to one or more neighboring nodes via at least one but no more than a threshold number of edges; obtain a weight value for at least one edge connected to said at least one node, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node; and affect a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. An article for use by a mobile device, the article comprising:
a non-transitory computer readable medium having stored therein computer implementable instructions executable by one or more processing units in said mobile device to; obtain a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said routability graph specifying a predetermined number of feasible paths to follow within said portion of said indoor environment, wherein at least one of said predetermined number of feasible paths is defined as passing through at least one of a plurality of nodes arranged at intersecting points of a multi-dimensional grid, and each of said plurality of nodes is interconnected to one or more neighboring nodes via at least one but no more than a threshold number of edges; obtain a weight value for at least one edge connected to said at least one node, said weight value representing a predetermined likelihood that an estimated trajectory of an object having reached said at least one node subsequently follows said at least one edge away from said at least one node; and affect a decision of a motion model to transition a state along said at least one edge in estimating a trajectory of said mobile device based, at least in part, on said weight value. - View Dependent Claims (37, 38, 39, 40, 41, 42, 43, 44, 45)
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46. A method comprising, with at least one computing platform:
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obtaining a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said routability graph specifying a predetermined number of feasible paths for an object to follow within said portion of said indoor environment, wherein at least one of said predetermined number of feasible paths is defined as passing through at least one of a plurality of nodes arranged at intersecting points of a multi-dimensional grid, and each of said plurality of nodes is interconnected to one or more neighboring nodes via at least one but no more than a threshold number of edges; and determining a weight value for at least one edge connected to said at least one node, said weight value being based, at least in part, on a likelihood that an estimated trajectory of said object having reached said at least one node subsequently follows said at least one edge away from said at least one node. - View Dependent Claims (47, 48, 49, 50, 51, 52, 53, 54, 55)
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56. An apparatus comprising:
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means for obtaining a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said routability graph specifying a predetermined number of feasible paths for an object to follow within said portion of said indoor environment, wherein at least one of said predetermined number of feasible paths is defined as passing through at least one of a plurality of nodes arranged at intersecting points of a multi-dimensional grid, and each of said plurality of nodes is interconnected to one or more neighboring nodes via at least one but no more than a threshold number of edges; and means for determining a weight value for at least one edge connected to said at least one node, said weight value being based, at least in part, on a likelihood that an estimated trajectory of said object having reached said at least one node subsequently follows said at least one edge away from said at least one node. - View Dependent Claims (57, 58, 59, 60, 61)
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62. A device comprising:
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memory; and one or more processing units to; obtain a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said routability graph specifying a predetermined number of feasible paths for an object to follow within said portion of said indoor environment, wherein at least one of said predetermined number of feasible paths is defined as passing through at least one of a plurality of nodes arranged at intersecting points of a multi-dimensional grid, and each of said plurality of nodes is interconnected to one or more neighboring nodes via at least one but no more than a threshold number of edges; and determine a weight value for at least one edge connected to said at least one node, said weight value being based, at least in part, on a likelihood that an estimated trajectory of said object having reached said at least one node subsequently follows said at least one edge away from said at least one node. - View Dependent Claims (63, 64, 65, 66, 67)
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68. An article for use in at least one computing device, the article comprising:
a non-transitory computer readable medium having stored therein computer implementable instructions executable by one or more processing units of a computing platform to; obtain a routability graph corresponding to an electronic map of at least a portion of an indoor environment, said routability graph specifying a predetermined number of feasible paths for an object to follow within said portion of said indoor environment, wherein at least one of said predetermined number of feasible paths is defined as passing through at least one of a plurality of nodes arranged at intersecting points of a multi-dimensional grid, and each of said plurality of nodes is interconnected to one or more neighboring nodes via at least one but no more than a threshold number of edges; and determine a weight value for at least one edge connected to said at least one node, said weight value being based, at least in part, on a likelihood that an estimated trajectory of said object having reached said at least one node subsequently follows said at least one edge away from said at least one node. - View Dependent Claims (69, 70, 71, 72, 73)
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74. A method comprising, with at least one computing platform:
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determining one or more feasible paths in a routability graph corresponding to an electronic map for an indoor environment, the routability graph representing a two-dimensional grid comprising edges connecting nodes at angles selected from a predetermined set of discrete angles relative to a datum; and selectively estimating a trajectory of a mobile device along said one or more feasible paths based, at least in part, on a sequence of measurements indicative of one or more positions of said device applied to samples of a probability distribution approximated at least in part using past measurements of positions of devices in said indoor environment. - View Dependent Claims (75, 76, 77, 78, 79)
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80. An apparatus comprising:
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means for determining one or more feasible paths in a routability graph corresponding to an electronic map for an indoor environment, the routability graph representing a two-dimensional grid comprising edges connecting nodes at angles selected from a predetermined set of discrete angles relative to a datum; and means for selectively estimating a trajectory of a mobile device along said one or more feasible paths based, at least in part, on a sequence of measurements indicative of one or more positions of said device applied to samples of a probability distribution approximated at least in part using past measurements of positions of devices in said indoor environment.
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81. A mobile device comprising:
one or more processing units to; determine one or more feasible paths in a routability graph corresponding to an electronic map for an indoor environment, the routability graph representing a two-dimensional grid comprising edges connecting nodes at angles selected from a predetermined set of discrete angles relative to a datum; and selectively estimate a trajectory of a mobile device along said one or more feasible paths based, at least in part, on a sequence of measurements indicative of one or more positions of said device applied to samples of a probability distribution approximated at least in part using past measurements of positions of devices in said indoor environment.
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82. An article comprising:
a non-transitory computer readable medium having stored therein computer implementable instructions that are executable by one or more processing units in a computing platform to; determine one or more feasible paths in a routability graph corresponding to an electronic map for an indoor environment, the routability graph representing a two-dimensional grid comprising edges connecting nodes at angles selected from a predetermined set of discrete angles relative to a datum; and selectively estimate a trajectory of a mobile device along said one or more feasible paths based, at least in part, on a sequence of measurements indicative of one or more positions of said device applied to samples of a probability distribution approximated at least in part using past measurements of positions of devices in said indoor environment.
Specification