Crowd sourced mapping with robust structural features
First Claim
1. A computer-implemented method for localizing a mobile device at a structure and generating or updating maps representing the structure, the method comprising:
- detect a structural feature associated with the structure using sensor data associated with the mobile device while traversing the detected structural feature;
upon detecting the structural feature, obtain signal data associated with the detected structural feature'"'"'s environment;
generate a mobile structure map representing the structure at the mobile device using the sensor data;
communicate a feature descriptor to a server communicatively coupled to a dataset comprised of previously received feature descriptors and one or more mobile structure maps generated using the previously received feature descriptors, each feature descriptor associated with a corresponding structural feature and including sensor data used by other mobile devices to detect the corresponding structural feature, signal data obtained by the other mobile devices upon detecting the corresponding structural feature, or a combination thereof; and
in response to the communicated feature descriptor, receive a map correction from the server that corrects the detected structural feature'"'"'s location on the mobile structure map.
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Abstract
A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building.
182 Citations
20 Claims
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1. A computer-implemented method for localizing a mobile device at a structure and generating or updating maps representing the structure, the method comprising:
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detect a structural feature associated with the structure using sensor data associated with the mobile device while traversing the detected structural feature; upon detecting the structural feature, obtain signal data associated with the detected structural feature'"'"'s environment; generate a mobile structure map representing the structure at the mobile device using the sensor data; communicate a feature descriptor to a server communicatively coupled to a dataset comprised of previously received feature descriptors and one or more mobile structure maps generated using the previously received feature descriptors, each feature descriptor associated with a corresponding structural feature and including sensor data used by other mobile devices to detect the corresponding structural feature, signal data obtained by the other mobile devices upon detecting the corresponding structural feature, or a combination thereof; and in response to the communicated feature descriptor, receive a map correction from the server that corrects the detected structural feature'"'"'s location on the mobile structure map. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A computing system for localizing a mobile device traversing a structure and generate or update maps representing the structure, the computing system comprising:
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one or more processors; and a memory communicatively coupled to the processor, the memory bearing instructions that, when executed on the one or more processors, cause the computing system to at least; receive a feature descriptor comprised of sensor data used by the mobile device to detect a structural feature while traversing the detected structural feature; determine whether a match exists between the detected structural feature and existing structural features described by previously received feature descriptors aggregated in a dataset using match scores, each match score comprised of similarity scores generated for one or more match score factors based on data from the feature descriptor and data associated with a particular existing structural feature compiled from the previously received feature descriptors; upon determining the match exists, communicate a map correction that corrects the detected structural feature'"'"'s location on a mobile structure map generated by the mobile device using the sensor data. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A non-transitory computer-readable storage medium comprising instructions tangibly embodied thereon that, when executed by a computing device adapted to localize a mobile device traversing a structure and generate or update maps representing the structure, cause the computing device to at least:
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receive a feature descriptor comprised of sensor data used by the mobile device to detect a structural feature while traversing the detected structural feature and signal data associated with the detected structural feature'"'"'s environment that provides differentiating information to further distinguish the detected structural feature from other structural features; identify the structure associated with the detected structural feature using the received feature descriptor; determine whether a match exists between the detected structural feature and a structural feature existing in a structure map generated using previously received feature descriptors aggregated in a dataset, the match determined based on a match scores comprised of similarity scores generated for one or more match score factors based on data from the feature descriptor and data associated with the existing structural feature compiled from the previously received feature descriptors; and upon determining the match exists, communicate a map correction that corrects the detected structural feature'"'"'s location on a mobile structure map generated by the mobile device using the sensor data. - View Dependent Claims (19, 20)
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Specification