Generating Map Data

• US 20170059328A1
• Filed: 08/24/2016
• Published: 03/02/2017
• Est. Priority Date: 08/28/2015
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Kemppainen, Jarmo Juhani, Dousse, Olivier
• Granted Patent: US 10,444,019 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors

Abstract

An apparatus receives at least one set of sensor data from at least one mobile device. The sensor data was measured at a particular site and comprises at least motion related sensor data. The apparatus selects a set of parameter values for a parametric site model from a plurality of possible sets of parameter values. The set of parameter values is selected which has the highest likelihood that the parametric site model configured with the set of parameter values correctly represents the particular site in view of the received at least one set of sensor data.

Claims

1. A method comprising:

receiving at least one set of sensor data from at least one mobile device, the sensor data measured at a particular site and comprising at least motion related sensor data; and

selecting a set of parameter values for a parametric site model from a plurality of possible sets of parameter values, which has the highest likelihood that the parametric site model configured with the set of parameter values correctly represents the particular site in view of the received at least one set of sensor data.

2. The method according to claim 1, further comprising at least one of:

storing the selected set of parameter values as map data for the site;

providing the selected set of parameter values as map data for the site for transmission;

creating map data for the site based on the parametric site model configured with the set of parameter values and storing the created map data;

creating map data for the site based on the parametric site model configured with the set of parameter values and supplementing existing map data with the created map data; and

creating map data for the site based on the parametric site model configured with the set of parameter values and providing the created map data for transmission.

3. The method according to claim 1, wherein the particular site is a particular parking house.

4. The method according to claim 1, wherein the at least one set of sensor data comprises data from at least one sensor, including:

an odometer;

an accelerometer;

a gyroscope;

or

a barometer.

5. The method according to claim 1, wherein the parametric site model comprises parameters for defining at least one of:

a number of subareas of the site;

lanes in each subarea of the site;

connectors between subareas of the site;

at least one entrance to the site;

or

at least one exit from the site.

6. The method according to claim 1, wherein the received at least one set of sensor data comprises a plurality of sets of sensor data and wherein selecting the set of parameter values for the parametric site model from the plurality of possible sets of parameter values comprises:

determining for each of the plurality of sets of sensor data for an initial set of parameter values for the parametric site model a likelihood that the set of the sensor data matches the parametric site model configured with the initial set of the parameter values;

determining a total likelihood for the initial set of the parameter values as the product of the likelihoods determined for the plurality of sets of sensor data; and

optimizing the total likelihood by adjusting the initial parameter values.

7. The method according to claim 1, wherein the received at least one set of sensor data comprises a plurality of sets of sensor data, wherein each of the received sets of sensor data comprises altitude related data, and wherein selecting a set of parameter values from a plurality of possible sets of parameter values comprises:

analyzing the altitude related data in the received sets of sensor data to detect levels at which the sensor data was measured;

splitting each received sets of sensor data for the site to obtain a respective set of sensor data per level;

determining a likelihood of the respective set of sensor data for a level matching a parametric level model configured with an initial set of parameter values for the level;

determining for each level a total likelihood of the initial set of parameter values as the product of the likelihoods determined for the level;

optimizing the total likelihood for each level by adjusting the initial parameter values; and

combining the adjusted parameter values resulting in the optimized likelihood for each level to obtain a set of parameter values with optimized likelihood for the site.

8. The method according to claim 1, wherein the set of the parameter values for the parametric site model, which has the highest likelihood that the parametric site model configured with the set of parameter values correctly represents the site in view of the received at least one set of sensor data,

is only selected, if the highest likelihood exceeds a predetermined threshold value;

or

is only selected, if each highest likelihood that the parametric site model configured with the set of parameter values correctly represents a respective one of a plurality of subareas of the site in view of the received at least one set of sensor data exceeds a predetermined threshold value.

9. The method according to claim 1, further comprising

receiving at least one further set of sensor data, the sensor data measured at the particular site, after a set of parameter values which has the highest likelihood that the parametric site model configured with the set of parameter values correctly represents the site in view of the previously received at least one set of sensor data has been selected;

and

further optimizing the selected set of parameter values based on the received at least one further set of sensor data.

10. (canceled)

11. (canceled)

13. (canceled)

14. (canceled)

15. A computer readable storage medium in which computer program code is stored, the computer program code causing at least one apparatus to perform the following when executed by a processor:

receive at least one set of sensor data from at least one mobile device, the sensor data measured at a particular site and comprising at least motion related sensor data; and

select a set of parameter values for a parametric site model from a plurality of possible sets of parameter values, which has the highest likelihood that the parametric site model configured with the set of parameter values correctly represents the particular site in view of the received at least one set of sensor data.

16. An apparatus comprising:

at least one processor and at least one memory including computer program code, and wherein the at least one processor is configured to execute computer program code from the at least one memory to cause the apparatus to at least perform;

receiving at least one set of sensor data from at least one mobile device, the sensor data measured at a particular site and comprising at least motion related sensor data; and

selecting a set of parameter values for a parametric site model from a plurality of possible sets of parameter values, which has a highest likelihood that the parametric site model configured with the set of parameter values correctly represents the particular site in view of the received at least one set of sensor data.

12. The apparatus according to claims 16, wherein the apparatus is one of:

a chip;

an integrated circuit;

a plug-in board;

a module for a server; and

a server.

17. The apparatus according to claim 16, the at least one processor is configured to execute computer program code from the at least one memory to cause the apparatus to perform:

storing the selected set of parameter values as map data for the site; and

providing the selected set of parameter values as map data for the site for transmission.

18. The apparatus according to claim 17, the at least one processor is configured to execute computer program code from the at least one memory to cause the apparatus to perform:

creating map data for the site based on the parametric site model configured with the set of parameter values and storing the created map data.

19. The apparatus according to claim 17, the at least one processor is configured to execute computer program code from the at least one memory to cause the apparatus to perform:

creating map data for the site based on the parametric site model configured with the set of parameter values and supplementing existing map data with the created map data.

20. The apparatus according to claim 17, the at least one processor is configured to execute computer program code from the at least one memory to cause the apparatus to perform:

creating map data for the site based on the parametric site model configured with the set of parameter values and providing the created map data for transmission.

21. The apparatus according to claim 17, the at least one processor is configured to execute computer program code from the at least one memory to cause the apparatus to perform:

creating map data for the site based on the parametric site model configured with the set of parameter values;

supplementing existing map data with the created map data; and

providing the created map data for transmission.

22. The apparatus according to claim 16, wherein the at least one set of sensor data comprises data from an odometer, an accelerometer, a gyroscope, a barometer, or combinations thereof.

23. The apparatus according to claim 16, wherein the parametric site model comprises parameters for defining a number of subareas of the site, lanes in each subarea of the site, connectors between subareas of the site, at least one entrance to the site, or at least one exit from the site.

24. The apparatus according to claim 16, wherein the set of the parameter values for the parametric site model, which has the highest likelihood that the parametric site model configured with the set of parameter values correctly represents the site in view of the received at least one set of sensor data, is only selected, if the highest likelihood exceeds a predetermined threshold value or is only selected, if each highest likelihood that the parametric site model configured with the set of parameter values correctly represents a respective one of a plurality of subareas of the site in view of the received at least one set of sensor data exceeds a predetermined threshold value.