Method, computer program and apparatus for determining an object in sight

• US 9,020,753 B2
• Filed: 05/12/2010
• Issued: 04/28/2015
• Est. Priority Date: 05/12/2010
• Status: Active Grant

• Current Assignee: Telefonaktiebolaget LM Ericsson
• Original Assignee: Telefonaktiebolaget LM Ericsson
• Inventors: Persson, Johan, Lofstrom, Josefin
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US13/697,098
• Publication Number:
  US 20130060464A1
• Time in Patent Office: 1,812 Days
• Field of Search: 701/412, 701/426, 701/438, 701/445, 701/449, 701/469, 701/473, 353/11
• US Class Current: 701/438
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/021 Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/026 using orientation information, e.g. compass
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

A method of determining an object in sight with an electronic apparatus, where the object being associated with a Point-Of-Interest, POI, item in a database is disclosed. The method comprises estimating (100) a position of the electronic apparatus by a positioning mechanism; estimating (102) magnitude of error of estimated position; estimating (104) a direction when orienting the electronic apparatus towards the object by a magnetic sensor of the electronic apparatus; estimating (106) magnitude of error of position error of estimated direction; calculating two intersecting imaginary lines in a model of the environment of the electronic apparatus, wherein the two imaginary lines intersect a line of the estimated direction at a side of the electronic apparatus distal to said object, and where a mutual angle between the two imaginary lines and the line of the estimated direction is based on the estimated magnitude of error of estimated direction, and the position where the imaginary lines intersect is determined from the estimated position and the magnitude of error of estimated position, such that an area between the two imaginary lines is formed (108) based on a determined maximum distance of sight; and determining (110) a POI associated with a position within said area such that information about the object associated with the determined POI is obtainable. A computer program and an electronic apparatus are also disclosed.

Claims

1. A method of determining an object in sight, the object being associated with a Point-Of-Interest (POI) item in a database, the method comprising:

estimating a position of an electronic apparatus;

estimating a magnitude of error of the estimated position;

estimating a direction in which the electronic apparatus is facing using a magnetic sensor of the electronic apparatus;

estimating a magnitude of error of the estimated direction;

calculating two intersecting imaginary lines in a model of an environment of the electronic apparatus, wherein the two imaginary lines intersect a line of the estimated direction at a side of the electronic apparatus distal to said object, a mutual angle between the two imaginary lines and the line of the estimated direction is based on the estimated magnitude of error of the estimated direction, and the position where the imaginary lines intersect is determined from the estimated position and the magnitude of error of the estimated position, such that an area between the two imaginary lines is formed based on a determined maximum distance of sight; and

determining a POI associated with a position within said area such that information about the object associated with the determined POI is obtainable.

2. The method according to claim 1, wherein a POI is enabled to have a physical dimension, the method further comprising

tracing along each of the two imaginary lines such that a POI whose dimension intersects any of the imaginary lines is determined such that information about the object associated with the determined POI is obtainable.

3. The method according to claim 1, further comprising excluding, when considering the area, a part of the area defined between the position where the imaginary lines intersect, between the imaginary lines, and an imaginary area around the estimated position drawn up by the estimated magnitude of error of position.

4. The method according to claim 1, wherein the estimating magnitude of error of estimated direction comprises assigning a predetermined magnitude of error.

5. The method according to claim 1, wherein the estimating magnitude of error of estimated direction comprises taking a number of samples of direction measurement, and estimating the magnitude of error based on said samples using a statistical model.

6. The method according to claim 1, wherein the determining of a POI associated with a position within said area comprises:

determining a direction between the position where the imaginary lines intersect and a candidate POI; and

comparing the direction with the imaginary lines, wherein the candidate POI is considered associated with a position within said area if the direction is between the imaginary lines.

7. The method according to claim 1, wherein the determining of a POI associated with a position within said area comprises

defining the determined maximum distance of sight as a line perpendicular to the estimated direction;

defining a triangle from the imaginary lines and the determined maximum distance of sight; and

calculating Barycentric coordinates of the POI in the triangle, wherein the candidate POI is considered associated with a position within said area if all of the Barycentric coordinates are between 0 and 1.

8. The method according to claim 1, wherein the determining of a POI associated with a position within said area comprises

determining a point P along one of the imaginary lines being closest to a candidate POI;

determining a help line comprising the point P and a position T of the candidate POI such that the line is described by L=P+a(T−

P), where a is a scalar value and L, P and T are matrices; and

determine the scalar a for a point Q where the help line intersects the other of the imaginary lines, wherein the candidate POI is considered associated with a position within said area if the scalar a is 1 or greater for that point.

9. A computer program comprising a non-transitory computer readable medium storing computer program code comprising instructions to cause a processor on which the computer program code is executed to perform a method, the method comprising:

estimating a position of an electronic apparatus;

estimating a magnitude of error of the estimated position;

estimating a direction in which the electronic apparatus is facing using a magnetic sensor of the electronic apparatus;

estimating a magnitude of error of the estimated direction;

calculating two intersecting imaginary lines in a model of an environment of the electronic apparatus, wherein the two imaginary lines intersect a line of the estimated direction at a side of the electronic apparatus distal to said object, a mutual angle between the two imaginary lines and the line of the estimated direction is based on the estimated magnitude of error of the estimated direction, and the position where the imaginary lines intersect is determined from the estimated position and the magnitude of error of the estimated position, such that an area between the two imaginary lines is formed based on a determined maximum distance of sight; and

determining a POI associated with a position within said area such that information about the object associated with the determined POI is obtainable.

10. An electronic apparatus comprising:

a positioning mechanism operable to determine a position of the electronic apparatus;

a compass comprising at least one magnetic sensor; and

a processor arranged to;

(i) provide an estimate of a magnitude of error of an estimated position of the electronic apparatus;

(ii) provide an estimate of a magnitude of error of an estimated direction;

(iii) access a database with a Point-Of-Interest, POI, item, wherein the POI item is associated with an object to be identifiable with aid of the electronic apparatus when in sight; and

(iv) calculate two intersecting imaginary lines in a model of an environment of the electronic apparatus, wherein the two imaginary lines intersect a line of the estimated direction at a side of the electronic apparatus distal to said object, and where a mutual angle between the two imaginary lines and the line of the estimated direction is based on the estimated magnitude of error of estimated direction, and the position where the imaginary lines intersect is determined from the estimated position and the magnitude of error of estimated position, such that an area between the two imaginary lines is formed based on a determined maximum distance of sight, and to determine, from the database, a POI associated with a position within said area such that information about the object associated with the determined POI is obtainable.

11. The electronic apparatus according to claim 10, wherein a POI is enabled to have a physical dimension, and the processor is further arranged to trace along each of the two imaginary lines such that a POI whose dimension intersects any of the imaginary lines is determined such that information about the object associated with the determined POI is obtainable.

12. The electronic apparatus according to claim 10, wherein the processor further is arranged to exclude, when considering the area, a part of the area defined between the position where the imaginary lines intersect, between the imaginary lines, and an imaginary area around the estimated position drawn up by the estimated magnitude of error of position.

13. The electronic apparatus according to claim 10, wherein the processor further is arranged to receive a number of samples of direction measurement from the compass such that an estimate of the magnitude of error is based on said samples using a statistical model.

14. The electronic apparatus according to claim 10, further comprising a user interface, UI, and an application, wherein the application is arranged to receive information about the object associated with the determined POI, to process the information into presentation information, and to provide the presentation information to the UI such that it is user perceivable.

15. The electronic apparatus according to claim 14, wherein the application further is arranged to receive through the UI a user input in response to the presentation information.

16. The electronic apparatus according to claim 14, further comprising a transceiver arranged to communicate with a communication network, wherein the application is further arranged to transmit information about the determined POI via the transceiver.

17. The electronic apparatus of claim 10, wherein the processor includes:

an error handling mechanism for positioning error;

an error handling mechanism for direction error; and

a database access mechanism for accessing the database.