Rotation-tolerant devices and schemes for pedestrian-dead-reckoning (PDR) location determination

• US 8,818,420 B2
• Filed: 09/28/2012
• Issued: 08/26/2014
• Est. Priority Date: 09/28/2012
• Status: Expired due to Fees

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Schatzberg, Uri, Amizur, Yuval, Banin, Leor
• Primary Examiner(s): Brandt, Christopher M
• Application Number:
  US13/630,696
• Publication Number:
  US 20140094200A1
• Time in Patent Office: 697 Days
• Field of Search: 455/456.1, 455/456.2, 455/456.3, 455/456.5, 455/456.6
• US Class Current: 455/456.6
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: H04M 2250/10 including a GPS signal receiver
• CPC Class Codes: H04M 2250/12 including a sensor for measuring a physical value, e.g. temperature or motion
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information

Abstract

Devices, systems, and methods are directed to the determination of current location information of a wireless communication device. Such devices, systems, and methods include a plurality of sensor elements configured to provide orientation parameter information, velocity and/or acceleration parameter information, and directional heading parameter information; a camera mechanism configured to capture images at predetermined intervals of a user'"'"'s body as the user handles the wireless communication device; orientation logic configured to determine orientation change information attributable to the user'"'"'s handling, based on the captured images, and provide orientation correction information; and location estimation logic configured to provide current location information based on previous location information, the velocity and/or acceleration parameter information, the directional heading parameter information and/or the orientation parameter information, and the orientation correction information.

Claims

1. A wireless communication device, comprising:

a plurality of sensor elements configured to provide orientation parameter information, velocity and/or acceleration parameter information, and directional heading parameter information;

a camera mechanism configured to capture images at predetermined intervals of a user'"'"'s body as the user handles the wireless communication device;

orientation logic configured to determine orientation change information relative to the user'"'"'s body attributable to the user'"'"'s handling, based on the captured images of the user'"'"'s body, and provide orientation correction information; and

location estimation logic configured to provide current location information based on previous location information, the velocity and/or acceleration parameter information, the directional heading parameter information and/or the orientation parameter information, and the orientation correction information.

2. The wireless communication device of claim 1, wherein the orientation logic includes an orientation module configured to apply image processing to a previously captured image and compare to a currently captured image to determine orientation change information relative to the user'"'"'s body and the orientation correction information.

3. The wireless communication device of claim 2, wherein the orientation module generates multiple representations of the previously captured image rotated at predetermined angular increments, compares the multiple representations with the currently captured image, determines rotational deviations based on one of the representation that best matches the currently captured image, and supplies orientation correction information based on the determined rotational deviations.

4. The wireless communication device of claim 1, wherein the location estimation logic includes an enhanced Pedestrian-Dead-Reckoning (PDR) module configured to receive the orientation correction information from the orientation module and process the orientation correction information to account for orientation changes relative to the user'"'"'s body in determining current location information.

5. The wireless communication device of claim 2, further comprising a projector mechanism configured to project a pattern onto the user'"'"'s body, wherein the camera mechanism captures images of the projected pattern on the user'"'"'s body.

6. The wireless communication device of claim 5, wherein the orientation module determines pitch angle and roll angle orientation relative to the user'"'"'s body based on the previously captured image, determines pitch angle and roll angle orientation relative to the user'"'"'s body based on the currently captured image, determines orientation changes based on pitch angle differences between the previously captured image and the currently captured image, determines orientation changes based on roll angle differences between the previously captured image and the currently captured image to determine orientation change information relative to the user'"'"'s body.

7. The wireless communication device of claim 1, wherein the sensor elements include one or more accelerometer sensors.

8. The wireless communication device of claim 1, wherein the sensor elements include one or more gyroscopic sensors.

9. The wireless communication device of claim 1, wherein the sensor elements include one or more magnetometer sensors.

10. The wireless communication device of claim 1, wherein the camera mechanism is configured to capture images in a face-forward mode.

11. The wireless communication device of claim 2, further comprising a memory element to store the previously captured images.

12. The wireless communication device of claim 5, wherein the projector mechanism comprises at least one or more of the following:

light emitting diode (LED) projector, laser projector, color projector, and/or infrared projector.

13. The wireless communication device of claim 1, wherein the current location information is within an indoor environment.

14. A method of determining current location information in a wireless device, comprising:

determining, via sensor elements, orientation parameter information, velocity and/or acceleration parameter information, and directional heading parameter information;

capturing images at predetermined intervals of a user'"'"'s body as the user handles the wireless communication device;

determining orientation change information relative to the user'"'"'s body attributable to the user'"'"'s handling, based on the captured images of the user'"'"'s body;

providing orientation correction information based on the orientation change information; and

providing the current location information based on previous location information, the velocity and/or acceleration parameter information, the directional heading parameter information and/or the orientation parameter information, and the orientation correction information.

15. The method of claim 14, wherein the determining of orientation change information and orientation correction information includes applying image processing to a previously captured image and comparing to a currently captured image to determine orientation change information relative to the user'"'"'s body and the orientation correction information.

16. The method of claim 15, wherein the image processing includes generating multiple representations of the previously captured image rotated at predetermined angular increments, comparing the multiple representations with the currently captured image, determining rotational deviations based on one of the representation that best matches the currently captured image, and supplying orientation correction information based on the determined rotational deviations.

17. The method of claim 14, wherein the providing of the current location information includes receiving the orientation correction information and processing the orientation correction information to account for orientation changes relative to the user'"'"'s body in determining current location information.

18. The method of claim 15, further comprising projecting a pattern onto the user'"'"'s body, wherein the capturing of images includes capturing projected pattern on the user'"'"'s body.

19. The method of claim 18, wherein the image processing includes determining pitch angle and roll angle orientation relative to the user'"'"'s body based on the previously captured image, determining pitch angle and roll angle orientation relative to the user'"'"'s body based on the currently captured image, determining orientation changes based on pitch angle differences between the previously captured image and the currently captured image, determining orientation changes based on roll angle differences between the previously captured image and the currently captured image to determine orientation change information relative to the user'"'"'s body.

20. The method of claim 14, wherein the current location information is within an indoor environment.