Pathway matching
First Claim
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1. A method comprising:
- estimating a location of a mobile device in a venue having pathways represented by a path network that includes segments connected by junctions, the estimating includingdetermining a first set of candidate locations for the mobile device;
determining that distances between the candidate locations of a first subset of the first set and the corresponding segment or segments are less than a threshold distance;
shifting the candidate locations of the first subset to updated candidate locations that are on the corresponding segment or segments of the path network;
determining that distances between the candidate locations of a remaining second subset of the first set and corresponding segment or segments are larger than or equal to the threshold distance; and
shifting the candidate locations of the second subset to updated locations that are closer to, but not on, the corresponding segment or segments, wherein the shifting of the candidate locations of the first and second subsets results in a second set of candidate locations for the mobile device; and
deriving the location of the mobile device from the second set of candidate locations based on a sensor reading from a sensor of the mobile device that senses an environment variable.
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Abstract
Methods, program products, and systems for estimating a location of a mobile device in a venue are provided. The venue can have pathways represented by a path network that includes segments connected by junctions. Estimating the location can include determining a first set of candidate locations for the mobile device, and mapping some of the candidate locations to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, resulting in a second set of candidate locations for the mobile device. The location of the mobile device can be derived from the second set of candidate locations.
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Citations
22 Claims
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1. A method comprising:
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estimating a location of a mobile device in a venue having pathways represented by a path network that includes segments connected by junctions, the estimating including determining a first set of candidate locations for the mobile device; determining that distances between the candidate locations of a first subset of the first set and the corresponding segment or segments are less than a threshold distance; shifting the candidate locations of the first subset to updated candidate locations that are on the corresponding segment or segments of the path network; determining that distances between the candidate locations of a remaining second subset of the first set and corresponding segment or segments are larger than or equal to the threshold distance; and shifting the candidate locations of the second subset to updated locations that are closer to, but not on, the corresponding segment or segments, wherein the shifting of the candidate locations of the first and second subsets results in a second set of candidate locations for the mobile device; and deriving the location of the mobile device from the second set of candidate locations based on a sensor reading from a sensor of the mobile device that senses an environment variable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method comprising:
- estimating a location of a mobile device in a venue having pathways represented by a path network that includes segments connected by junctions, the estimating including;
determining a first set of candidate locations for the mobile device;
shifting some of the candidate locations to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, wherein the shifting of the candidate locations of the first set comprises determining a weight value based on a probability distribution that is a function of the distance between the first candidate locations and the corresponding segment, and determining a shift to a position of the updated candidate location based on the weight value, wherein the shifting of the candidate locations of the first set results in a second set of candidate locations for the mobile device; and
deriving the location of the mobile device from the second set of candidate locations based on a sensor reading from a sensor of the mobile device that senses an environment variable. - View Dependent Claims (12, 13)
- estimating a location of a mobile device in a venue having pathways represented by a path network that includes segments connected by junctions, the estimating including;
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14. A computer-implemented method of claim comprising:
- identifying a path network representing pathways in a venue comprising a space accessible by a movable body carrying a mobile device and one or more constraints of movement of the movable body, the path network including segments that are connected by junctions;
determining an estimated location of a mobile device;
updating the estimated location to derive an updated estimated location, taking into account constraints imposed by the segments of the path network, wherein the updating of the estimated location comprises shifting the estimated location according to a weight value to the updated estimated candidate location that is on or closer to a segment of the path network according to a probability value associated with the segment;
propagating the updated estimated location of the mobile device using a state space model to generate a propagated estimated location, taking into account of a sensor reading from a sensor that senses an environment variable, and one or more constraints of movement of the movable body, but without being constrained to the segments of the path network; and
determining an updated estimated location of the mobile device based on the propagated estimated location. - View Dependent Claims (15)
- identifying a path network representing pathways in a venue comprising a space accessible by a movable body carrying a mobile device and one or more constraints of movement of the movable body, the path network including segments that are connected by junctions;
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16. A mobile device comprising:
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a sensor to sense an environment variable; a storage configured to store map data associated with a venue comprising a space accessible by a movable body carrying the mobile device and one or more constraints of movement of the movable body, the map data including information about a path network representing pathways in the venue, the path network including segments connected by junctions; and a processor configured to; determine a first estimated location and a second estimated location of the movable body; determine that a first distance between the first estimated location and a first segment in the path network is less than a threshold distance; shift the first estimated location to a first updated estimation location that is on the first segment; determine that a second distance between the second estimated location and the first segment is greater than or equal to the threshold distance; shift the second estimated location to a second updated estimated location that is closer to, but not on, the first segment; and determine a current location of the movable body based on the first updated estimated location, the second updated estimated location and a sensor reading from the sensor. - View Dependent Claims (17)
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18. A mobile device comprising:
- a sensor to sense an environment variable;
a storage configured to store map data associated with a venue comprising a space accessible by a movable body carrying the mobile device and one or more constraints of movement of the movable body, the map data including information about a path network representing pathways in the venue, the path network including segments connected by junctions; and
a processor configured to determine a first set of candidate locations for the movable body;
shift the candidate locations according to a weight value to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, wherein the shift of the candidate locations of the first set results in a second set of candidate locations for the movable body;
mobile device, receive a sensor reading from the sensor;
propagate the second set of candidate locations based on the sensor reading and map data, resulting in a third set of candidate locations; and
estimate the location of the movable body based on the third set of candidate locations. - View Dependent Claims (19)
- a sensor to sense an environment variable;
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20. An apparatus comprising:
- a non-transitory computer storage medium storing instructions that, when executed by data processing apparatus, cause the data processing apparatus to perform operations comprising;
determine a first set of candidate locations for a mobile device in a venue having pathways represented by a path network that includes segments connected by junctions;
shifting some of the candidate locations to updated candidate locations that are on or closer to one or more segments of the path network based on distances between the candidate locations and respective segments, wherein the shifting of the candidate locations of the first set comprises;
determining a weight value based on a probability distribution that is a function of the distance between the first candidate locations and the corresponding segment, and determining a shift to a position of the updated candidate location based on the weight value, wherein the shifting of the candidate locations of the first set results resulting in a second set of candidate locations for the mobile device; and
estimating the location of the mobile device from the second set of candidate locations based on a sensor reading from a sensor of the mobile device that senses an environment variable. - View Dependent Claims (21, 22)
- a non-transitory computer storage medium storing instructions that, when executed by data processing apparatus, cause the data processing apparatus to perform operations comprising;
Specification