Coordinating devices to estimate distance, relative position, and device attitude
First Claim
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1. A method of determining distances, relative positions, device attitudes, orientations, or kinematic data for each of a plurality of devices in an environment by processing information gathered by the plurality of devices located within the environment, the method comprising:
- transmitting, from a first device, a first transmission into the environment, wherein the first transmission contains a first transmission characteristic associated with the first device and location of the first transmission within the environment;
receiving, at the first device, a second transmission from a second device located within the environment, wherein the second transmission includes a second transmission characteristic associated with the second device and the location of the second transmission within the environment;
capturing, at the first device, an image of the environment using one or more sensors;
processing, by the first device, the first transmission characteristic and the second transmission characteristic to determine a first distance, relative position, device attitude, orientation, or kinematic data with respect to the location of the first transmission;
processing, by the first device, the first transmission characteristic and the second transmission characteristic to determine a second distance, relative position, device attitude, orientation, or kinematic data with respect to the location of the second transmission; and
processing, by the first device, the first distance, relative position, device attitude, orientation, or kinematic data, the second distance, relative position, device attitude, orientation, or kinematic data, and the captured image to determine a third distance, relative position, device attitude, orientation, or kinematic data associated with at least some of the plurality of devices within the environment.
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Abstract
The present invention contemplates a variety of improved techniques including methods and apparatus for coordinating a plurality of devices, and more specifically, a method and apparatus for coordinating a plurality of devices to estimate or calculate various distances, relative positions, device attitudes, and other absolute and/or relative kinematic data.
13 Citations
21 Claims
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1. A method of determining distances, relative positions, device attitudes, orientations, or kinematic data for each of a plurality of devices in an environment by processing information gathered by the plurality of devices located within the environment, the method comprising:
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transmitting, from a first device, a first transmission into the environment, wherein the first transmission contains a first transmission characteristic associated with the first device and location of the first transmission within the environment; receiving, at the first device, a second transmission from a second device located within the environment, wherein the second transmission includes a second transmission characteristic associated with the second device and the location of the second transmission within the environment; capturing, at the first device, an image of the environment using one or more sensors; processing, by the first device, the first transmission characteristic and the second transmission characteristic to determine a first distance, relative position, device attitude, orientation, or kinematic data with respect to the location of the first transmission; processing, by the first device, the first transmission characteristic and the second transmission characteristic to determine a second distance, relative position, device attitude, orientation, or kinematic data with respect to the location of the second transmission; and processing, by the first device, the first distance, relative position, device attitude, orientation, or kinematic data, the second distance, relative position, device attitude, orientation, or kinematic data, and the captured image to determine a third distance, relative position, device attitude, orientation, or kinematic data associated with at least some of the plurality of devices within the environment. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of processing data from a plurality devices located proximate to each other within an environment to determine a distance, relative position, device attitude, orientation, or kinematic data for each of the plurality of devices within the environment, the method comprising:
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receiving, at a third device, a first transmission from a first device, wherein the first transmission includes a first transmission characteristic associated with a location of the first transmission and data associated with the environment about the first transmission location; receiving, at the third device, a second transmission from a second device, wherein the second transmission includes a second transmission characteristic associated with a location of the second transmission and data associated with the environment about the second transmission location; capturing, by the third device, an image of the environment using one or more sensors; processing, by the third device, the first transmission characteristic with respect to the location of the second transmission to generate a first relative distance between the first device and the second device; and processing, by the third device, the second transmission characteristic with respect to the location of the first transmission to generate a second relative distance between the first device and the second device; and analyzing, by the third device, the first relative distance, the second relative distance, and the image to determine a proximity of the first device to the second device within the environment. - View Dependent Claims (8, 9, 10, 11, 12, 13, 21)
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14. A non-transitory computer-readable storage medium storing code configured to direct one or more processors associated with one or more computer systems to process data from a plurality devices located proximate to each other within an environment to determine a distance, relative position, device attitude, orientation, or kinematic data for each of the plurality of devices within the environment, the computer-readable storage medium comprising:
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code for receiving a first transmission from a first device, wherein the first transmission includes a first transmission characteristic associated with the location of the first transmission and data associated with the environment about the location of the first transmission; code for receiving a second transmission from a second device, wherein the second transmission includes a second transmission characteristic associated with the location of the second transmission and data associated with the environment about the location of the second transmission; code for capturing an image of the environment using one or more sensors; code for processing the first transmission characteristic with respect to the location of the second transmission location to determine a first relative distance between the first device and the second device; and code for processing the second transmission characteristic with respect to the location of the first transmission to determine a second relative distance between the first device and the second device; and code for analyzing the first relative distance, the second relative distance, and the image to determine a proximity of the first device to the second device within the environment. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification