NAVIGATION IN BUILDINGS WITH RECTANGULAR FLOOR PLAN
First Claim
1. A method in a mobile device of navigation using wall matching with a horizontal feature to estimate motion, the method comprising:
- capturing, with a camera in the mobile device, a local image containing the horizontal feature;
processing the local image to determine a horizontal feature angle (θ
HF), wherein the horizontal feature angle (θ
HF) is an angle from a current orientation of the mobile device to the horizontal feature; and
estimating a direction of motion of the mobile device, based on the horizontal feature angle (θ
HF), as parallel to a wall angle of the horizontal feature.
1 Assignment
0 Petitions
Accused Products
Abstract
An apparatus and method for providing a direction based on an angle of a reference wall is provided. A mobile device uses an angle of a horizontal feature from an image to calibrate a sensor and future sensor measurements. The angle of the horizontal feature is determined by image processing and this angle is mapped to one of four assumed parallel or perpendicular angles of an interior of a building. A sensor correction value is determined from a difference between the sensor-determined angle and the image-processing determined angle. The image processing determined angle is assumed to be very accurate and without accumulated errors or offsets that the sensor measurements may contain.
-
Citations
21 Claims
-
1. A method in a mobile device of navigation using wall matching with a horizontal feature to estimate motion, the method comprising:
-
capturing, with a camera in the mobile device, a local image containing the horizontal feature; processing the local image to determine a horizontal feature angle (θ
HF), wherein the horizontal feature angle (θ
HF) is an angle from a current orientation of the mobile device to the horizontal feature; andestimating a direction of motion of the mobile device, based on the horizontal feature angle (θ
HF), as parallel to a wall angle of the horizontal feature. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A mobile device for navigation using wall matching with a horizontal feature to estimate motion, the mobile device comprising:
-
a camera; an inertial sensor; and a processor comprising code for; capturing, with the camera in the mobile device, a local image containing the horizontal feature; processing the local image to determine a horizontal feature angle (θ
HF), wherein the horizontal feature angle (θ
HF) is an angle from a current orientation of the mobile device to the horizontal feature; andestimating a direction of motion of the mobile device, based on the horizontal feature angle (θ
HF), as parallel to a wall angle of the horizontal feature. - View Dependent Claims (11, 12, 13)
-
-
14. A mobile device for navigation using wall matching with a horizontal feature to estimate motion, the mobile device comprising:
-
means for capturing a local image containing the horizontal feature; means for processing the local image to determine a horizontal feature angle (θ
HF), wherein the horizontal feature angle (θ
HF) is an angle from a current orientation of the mobile device to the horizontal feature; andmeans for estimating a direction of motion of the mobile device, based on the horizontal feature angle (θ
HF), as parallel to a wall angle of the horizontal feature. - View Dependent Claims (15, 16, 17)
-
-
18. A non-transient computer-readable storage medium including program code stored thereon, a mobile device to navigate using wall matching with a horizontal feature to estimate motion, comprising program code for:
-
receiving, from a camera in the mobile device, a local image containing the horizontal feature; processing the local image to determine a horizontal feature angle (θ
HF), wherein the horizontal feature angle (θ
HF) is an angle from a current orientation of the mobile device to the horizontal feature; andestimating a direction of motion of the mobile device, based on the horizontal feature angle (θ
HF), as parallel to a wall angle of the horizontal feature. - View Dependent Claims (19, 20, 21)
-
Specification