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Image-based indoor position determination

  • US 9,020,191 B2
  • Filed: 02/01/2013
  • Issued: 04/28/2015
  • Est. Priority Date: 11/30/2012
  • Status: Active Grant
First Claim
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1. A method comprising:

  • extracting linear features from an image of an indoor portion of a building, said image captured by a camera at a mobile station;

    determining a topological representation of said indoor portion based, at least in part, on positions or quantity of said linear features in said image; and

    annotating said image with a rotation vector based, at least in part, on an inertial sensor or gravitometer, said rotation vector comprising information regarding an orientation of said image with respect to a direction of gravity;

    comparing said topological representation to stored topological representations of said building to determine a candidate position of said mobile station; and

    resolving said candidate position of said mobile station based, at least in part, on a signal strength or a travel time of a wireless signal received at said mobile station.

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