SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEMS AND METHODS
First Claim
1. A system for providing localization and mapping within an environment, the system comprising:
- at least one mobile device adapted to be moved within the environment, the at least one mobile device including an inertial measurement unit and at least one radio frequency receiver, the at least one mobile device detecting inertial measurements through the inertial measurement unit and values of signal strength from a plurality of sources of radio frequency signals within the environment through the at least one radio frequency receiver; and
a localization module receiving the inertial measurements and the values of signal strength, the localization module adapted to provide simultaneous localization and mapping of the at least one mobile device within the environment based at least on the inertial measurements detected by the inertial measurement unit and the values of signal strength detected by the at least one radio frequency receiver.
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Accused Products
Abstract
A system and method for providing localization and mapping within an environment includes at least one mobile device adapted to be moved within the environment. The at least one mobile device includes an inertial measurement unit and at least one radio frequency receiver. The at least one mobile device detects inertial measurements through the inertial measurement unit and values of signal strength through the at least one radio frequency receiver. The system and method also includes a localization module that provides simultaneous localization and mapping of the at least one mobile device within the environment based at least on the inertial measurements detected by the inertial measurement unit and the values of signal strength detected by the at least one radio frequency receiver.
41 Citations
22 Claims
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1. A system for providing localization and mapping within an environment, the system comprising:
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at least one mobile device adapted to be moved within the environment, the at least one mobile device including an inertial measurement unit and at least one radio frequency receiver, the at least one mobile device detecting inertial measurements through the inertial measurement unit and values of signal strength from a plurality of sources of radio frequency signals within the environment through the at least one radio frequency receiver; and a localization module receiving the inertial measurements and the values of signal strength, the localization module adapted to provide simultaneous localization and mapping of the at least one mobile device within the environment based at least on the inertial measurements detected by the inertial measurement unit and the values of signal strength detected by the at least one radio frequency receiver. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computerized method comprising the steps of:
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detecting, through an inertial sensor of at least one mobile device, inertial measurements as the at least one mobile device is moved within an environment; detecting, through a radio frequency receiver of the at least one mobile device, values of radio frequency signal strength as the mobile device is moved within the environment; and estimating, by a localization module executing on a processor, a trajectory of the mobile device within the environment based at least on the inertial measurements from the inertial sensor and the values of signal strength detected by the radio frequency receiver. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory, tangible computer-readable medium storing instructions adapted to be executed by at least one processor of a mobile device to perform a method comprising the steps of:
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detecting, through an inertial sensor of the mobile device, inertial measurements as the mobile device is moved within an environment; detecting, through a radio frequency receiver of the mobile device, values of radio frequency signal strength as the mobile device is moved within the environment; and estimating, by a localization module executing on the at least one processor, a trajectory of the mobile device within the environment based at least on the inertial measurements from the inertial sensor and the values of signal strength detected by the radio frequency receiver. - View Dependent Claims (18, 19, 20, 21, 22)
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Specification