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System and method for determining characteristics of a physical environment with simple motion patterns

  • US 8,457,829 B2
  • Filed: 02/19/2010
  • Issued: 06/04/2013
  • Est. Priority Date: 02/19/2010
  • Status: Active Grant
First Claim
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1. A system for determining characteristics of a physical environment with simple motion patterns, comprising:

  • a heading module for receiving a plurality of raw orientation readings from a simple motion pattern comprising at least one of a predetermined motion pattern, a motion pattern selected from a group of patterns based on a physical environment from which the raw orientation readings are received, and a randomly selected motion pattern;

    a distribution module for determining a distribution of possible wall orientations upon each raw reading, wherein the distribution is initially a uniform distribution from −

    45 to +45 degrees and is sequentially determined upon each of the raw readings according to the equation;


    p

    a

    r

    k+1
    )∝

    p

    r

    a

    p

    a

    r

    k
    )where p(θ

    r

    a) is the probability of reading θ

    r, given an actual angle θ

    a, and k is the k'"'"'th raw wall orientation reading; and

    a direction module for determining wall direction as the mean value of the distribution.

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