Navigation of mobile devices

• US 8,807,428 B2
• Filed: 10/05/2011
• Issued: 08/19/2014
• Est. Priority Date: 10/06/2010
• Status: Active Grant

• Current Assignee: STMicroelectronics Limited (STMicroelectronics NV)
• Original Assignee: STMicroelectronics Limited (STMicroelectronics NV)
• Inventors: Morgan, Michael
• Primary Examiner(s): HESS, DANIEL A
• Application Number:
  US13/253,827
• Publication Number:
  US 20120085820A1
• Time in Patent Office: 1,049 Days
• Field of Search: 235/375, 701/28, 701/245, 701/438
• US Class Current: 235/384
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

A method is provided for navigation of a mobile device. Spatial information of at least one beacon detected in an image relative to the image is determined. The image includes an image of the at least one beacon within at least part of an environment surrounding the mobile device. A position of the mobile device based on said spatial information is determined using encoded visual information of the at least one beacon.

Claims

1. A method for navigation of a mobile device comprising:

determining spatial information of at least one beacon detected in an image relative to the image, said image comprising an image of said at least one beacon within at least part of an environment surrounding the mobile device; and

determining a position of the mobile device based on said spatial information comprising encoded visual information of said at least one beacon and at least two indicators of said at least one beacon detectable only in a restricted wavelength image, said at least two indicators located on either side of the encoded visual information.

2. The method of claim 1 further comprising detecting said at least one beacon within the image based on said encoded visual information indicating a position of said at least one beacon relative to the environment.

3. The method according to claim 2 further comprises:

determining a position of the at least one beacon relative to the image based on said spatial information; and

determining a position of the at least one beacon relative to the environment based on said encoded visual information.

4. The method of claim 2 wherein determining a position of the mobile device comprises determining an absolute position and orientation of the mobile device.

5. The method of claim 1 wherein the beacon is an infrared beacon and said encoded visual information is decoded using image processing on said image.

6. The method of claim 1 wherein the encoded visual information indicates an identity of the beacon.

7. The method of claim 6 further comprising matching said identity of said beacon with a position of the beacon relative to the environment stored in a memory of the mobile device.

8. The method of claim 1 wherein said spatial characteristics further correspond to at least one of the size of the beacon within the image or the orientation of the beacon with respect to the image.

9. The method of claim 1 further comprising:

determining spatial information of at least one further beacon wherein said spatial information comprises an indication of a spatial relationship between the at least one beacon and said at least one further beacon; and

determining a position of the mobile device based on said spatial information.

10. The method of claim 1 wherein said image has a 360 degree field of vision of the surrounding environment and all of said beacons within said environment are within the image.

11. The method of claim 1, wherein said beacon is a barcode visible only in infrared light and said encoded visual information is encoded in the barcode.

12. The method of claim 1 wherein said method further comprises:

recording a first image of the beacon in normal light and a second image of the beacon in infrared light, wherein a comparison is made between the two images to determine if the indicators are only present in the second image and image processing is carried out to detect the encoded visual information between the two indicators.

13. The method of claim 12 wherein the two indicators indicate an orientation of the encoded visual information with respect to the mobile device and a comparison between a stored orientation of the encoded visual information and said orientation with respect to the mobile device is carried out to determine an orientation of the mobile device.

14. A method for navigation of a mobile device comprising:

determining spatial information of at least one beacon detected in an image relative to the image, the beacon comprising a barcode between two indicators visible only in infrared light, the barcode comprising encoded visual information, said image comprising an image of said at least one beacon within at least part of an environment surrounding the mobile device;

recording a first image of the beacon in normal light and a second image of the beacon in infrared light, wherein a comparison is made between the two images to determine if the indicators are only present in the second image;

carrying out image processing to detect a barcode between the two indicators; and

determining a position of the mobile device based on said spatial information comprising the encoded visual information.

15. The method of claim 14 wherein the two indicators indicate an orientation of the barcode with respect to the mobile device and a comparison between a stored orientation of the barcode and said orientation with respect to the mobile device is carried out to determine an orientation of the mobile device.

16. The method of claim 14 further comprising detecting said at least one beacon within the image based on said encoded visual information indicating a position of said at least one beacon relative to the environment.

17. The method according to claim 16 further comprises:

determining a position of the at least one beacon relative to the image based on said spatial information; and

determining a position of the at least one beacon relative to the environment based on said encoded visual information.

18. The method of claim 16 wherein determining a position of the mobile device comprises determining an absolute position and orientation of the mobile device.

19. The method of claim 14 wherein the encoded visual information indicates an identity of the beacon.

20. The method of claim 19 further comprising matching said identity of said beacon with a position of the beacon relative to the environment stored in a memory of the mobile device.

21. The method of claim 14 wherein said spatial characteristics further correspond to the orientation of the beacon with respect to the image.

22. A method for navigation of a mobile device comprising:

recording a first image of a beacon in normal light and a second image of the beacon in infrared light;

comparing the first and second image to determine if two infrared indicators are only present in the second image;

carrying out signal processing to detect a barcode between the two infrared indicators;

reading the barcode.

23. The method of claim 22 further comprising determining a position of the mobile device based on the barcode.

24. The method of claim 22 wherein the two indicators indicate an orientation of the barcode with respect to the mobile device and a comparison between a stored orientation of the barcode and said orientation with respect to the mobile device is carried out to determine an orientation of the mobile device.

25. An apparatus comprising:

an imaging device operable to obtain an image comprising an image of at least one beacon within at least part of an environment surrounding a mobile device;

a processing device operable to determine spatial information of said at least one beacon detected in the image relative to the image and determine a position of the mobile device based on said spatial information;

said processing means further being operable to determine said spatial information based on encoded visual information of said at least one beacon and at least two indicators of said at least one beacon detectable only in a restricted wavelength image, said at least two indicators located on either side of the encoded visual information.

26. An apparatus comprising:

means for determining spatial information of at least one beacon detected in an image relative to the image, the beacon comprising a barcode between two indicators visible only in infrared light, the barcode comprising encoded visual information, said image comprising an image of said at least one beacon within at least part of an environment surrounding the mobile device;

means for recording a first image of the beacon in normal light and a second image of the beacon in infrared light, wherein a comparison is made between the two images to determine if the indicators are only present in the second image;

means for carrying out image processing to detect a barcode between the two indicators; and

means for determining a position of the mobile device based on said spatial information using the encoded visual information.

27. A computer readable medium comprising computer instructions for:

determining spatial information of at least one beacon detected in an image relative to the image, said image comprising an image of said at least one beacon within at least part of an environment surrounding the mobile device; and

determining a position of the mobile device based on said spatial information;

wherein determining said spatial information is based on encoded visual information of said at least one beacon and at least two indicators of said at least one beacon detectable only by implementing a wavelength of electromagnetic radiation within a restricted range, said at least two indicators located on either side of the encoded visual information.

28. A computer readable medium comprising computer instructions for:

determining spatial information of at least one beacon detected in an image relative to the image, the beacon comprising a barcode between two indicators visible only in infrared light, the barcode comprising encoded visual information, said image comprising an image of said at least one beacon within at least part of an environment surrounding the mobile device;

recording a first image of the beacon in normal light and a second image of the beacon in infrared light, wherein a comparison is made between the two images to determine if the indicators are only present in the second image; and

carrying out image processing to detect a barcode between the two indicators;

determining a position of the mobile device based on said spatial information;

wherein said determining spatial information is based on the encoded visual information.