Pathway Matching
First Claim
1. A computer-implemented method, comprising:
- estimating a location of a mobile device in a venue having pathways represented by a path network that includes segments connected by junctions, the estimating includingdetermining a first set of candidate locations for the mobile device,mapping some of the candidate locations to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, resulting in a second set of candidate locations for the mobile device, andderiving the location of the mobile device from the second set of candidate locations.
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Accused Products
Abstract
Methods, program products, and systems for estimating a location of a mobile device in a venue are provided. The venue can have pathways represented by a path network that includes segments connected by junctions. Estimating the location can include determining a first set of candidate locations for the mobile device, and mapping some of the candidate locations to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, resulting in a second set of candidate locations for the mobile device. The location of the mobile device can be derived from the second set of candidate locations.
65 Citations
25 Claims
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1. A computer-implemented method, comprising:
estimating a location of a mobile device in a venue having pathways represented by a path network that includes segments connected by junctions, the estimating including determining a first set of candidate locations for the mobile device, mapping some of the candidate locations to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, resulting in a second set of candidate locations for the mobile device, and deriving the location of the mobile device from the second set of candidate locations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A computer-implemented method, comprising:
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identifying a path network representing pathways in a venue comprising a space accessible by a movable body carrying a mobile device and one or more constraints of movement of the movable body, the path network including segments that are connected by junctions; determining an estimated location of a mobile device; updating the estimated location to derive an updated estimated location, taking into account constraints imposed by the segments of the path network; propagating the updated estimated location of the mobile device using a state space model to generate a propagated estimated location, taking into account of a sensor reading from a sensor that senses an environment variable, and one or more constraints of movement of the movable body, but without being constrained to the segments of the path network; and determining an updated estimated location of the mobile device based on the propagated estimated location. - View Dependent Claims (17, 18)
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19. A mobile device comprising:
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a sensor to sense an environment variable; a storage configured to store map data associated with a venue comprising a space accessible by a movable body and one or more constraints of movement of the movable body, the map data including information about a path network representing pathways in the venue, the path network including segments connected by junctions; and a processor configured to determine a first estimated location of the mobile device; if the first estimated location is not on the path network, identify a first segment in the path network and map the first estimated location to a second estimated location that is on or closer to the first segment based on a distance between the first estimated location and the first segment; and determine a current location of the mobile device based on the second estimated location and a sensor reading from the sensor. - View Dependent Claims (20, 21, 22, 23)
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24. A mobile device comprising:
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a sensor to sense an environment variable; a storage configured to store map data associated with a venue comprising a space accessible by a movable body and one or more constraints of movement of the movable body, the map data including information about a path network representing pathways in the venue, the path network including segments connected by junctions; and a processor configured to determine a first set of candidate locations for the mobile device, map some of the candidate locations to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, resulting in a second set of candidate locations for the mobile device, receive a sensor reading from the sensor, propagate the second set of candidate locations based on the sensor reading and map data, resulting in a third set of candidate locations, and estimate the location of the mobile device based on the third set of candidate locations.
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25. An apparatus comprising:
a computer storage medium storing instructions that, when executed by data processing apparatus, cause the data processing apparatus to perform operations comprising; determine a first set of candidate locations for a mobile device in a venue having pathways represented by a path network that includes segments connected by junctions, mapping some of the candidate locations to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, resulting in a second set of candidate locations for the mobile device, and estimating the location of the mobile device from the second set of candidate locations.
Specification