Localization systems and methods

• US 9,154,919 B2
• Filed: 04/22/2013
• Issued: 10/06/2015
• Est. Priority Date: 04/22/2013
• Status: Active Grant

• Current Assignee: Alcatel-Lucent SA (Nokia Corporation)
• Original Assignee: Alcatel-Lucent SA (Nokia Corporation)
• Inventors: Yun, Doohee, Mirowski, Piotr W., Chang, Hyunseok, Lakshman, T. V.
• Primary Examiner(s): SHAHEED, KHALID W
• Application Number:
  US13/867,420
• Publication Number:
  US 20140315570A1
• Time in Patent Office: 897 Days
• Field of Search: 455/456.1, 455/456.2, 455/456.3, 455/456.4, 455/456.5, 455/456.6
• US Class Current: 1/1
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 5/0264 at least one of the systems being a non-radio wave positioning system
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management
• CPC Class Codes: H04W 64/003 locating network equipment

Abstract

A system and method for providing localization of a mobile electronic device within an environment includes at least one server in communication with the mobile electronic device. The at least one server is adapted to receive at least one picture and at least one accelerometer measurement from the mobile electronic device. The at least one server includes a localization module that provides localization to the mobile electronic device based on the at least one picture, the at least one accelerometer measurement and on at least one 3-dimensional map of the environment.

Claims

1. A system for providing localization of a mobile electronic device within an environment, the system comprising:

at least one server in communication with the mobile electronic device, the at least one server adapted to receive input data from at least one picture and at least one accelerometer measurement from the mobile electronic device;

a memory database in communication with at least one server, the memory database storing at least one 3-dimensional map of the environment; and

a localization module adapted to be executed by the at least one server, the localization module providing localization to the mobile electronic device based on the input data from the at least one picture, the at least one accelerometer measurement and the at least one 3-dimensional map of the environment;

wherein the 3-dimensional map includes a database of 3-dimensional feature points; and

wherein the localization module provides localization by matching 2-dimensional feature points from the at least one picture with the 3-dimensional feature points of the 3-dimensional map.

2. The system according to claim 1, wherein the system includes a cloud computing service for executing the localization module.

3. The system according to claim 1, wherein the at least one accelerometer measurement includes a 3-axis acceleration measurement from a 3-axis accelerometer.

4. The system according to claim 1, wherein the mobile electronic device is a wearable smart gadget.

5. A computerized method comprising the steps of:

receiving, at at least one server, input data from at least one picture and at least one accelerometer measurement from a mobile electronic device;

comparing, at the at least one server, the input data from the at least one picture and at least one accelerometer measurement to a 3-dimensional map of an environment stored in memory;

constraining, at the at least one server, a search space of the 3-dimensional map to a subset for comparing the at least one picture and at least one accelerometer measurement to the 3-dimensional map; and

transmitting, from the at least one server, localization to the mobile electronic device indicative of a 3-dimensional position and orientation of the mobile electronic device within the environment.

6. The method according to claim 5, wherein constraining, at the at least one server, the search space of the 3-dimensional map includes calculating a pitch and roll of the mobile electronic device from the accelerometer measurement.

7. The method according to claim 6, wherein constraining, at the at least one server, the search space of the 3-dimensional map additionally includes approximating a position of the mobile electronic device within the environment using at least one of WiFi geolocation, a two-dimensional barcode or location information input in the mobile electronic device.

8. The method according to claim 7, wherein the approximate position of the mobile electronic device is within twenty meters of an actual location of the mobile electronic device.

9. A computerized method comprising the steps of:

receiving, at at least one server, input data from at least one picture and at least one accelerometer measurement from a mobile electronic device;

comparing, at the at least one server, the input data from the at least one picture and at least one accelerometer measurement to a 3-dimensional map of an environment stored in memory;

matching, at the at least one server, 2-dimensional feature points from the at least one picture with 3-dimensional feature points of the 3-dimensional map; and

transmitting, from the at least one server, localization to the mobile electronic device indicative of a 3-dimensional position and orientation of the mobile electronic device within the environment.

10. The method according to claim 9, additionally comprising:

determining, at the at least one server, a translation vector and a rotation matrix between matched feature point pairs assuming rigid-body motion.

11. A non-transitory, tangible computer-readable medium storing instructions adapted to be executed by at least one server to perform a method comprising the steps of:

receiving, at the at least one server, input data from at least one picture and at least one accelerometer measurement from a mobile electronic device;

comparing, at the at least one server, the input data from the at least one picture and at least one accelerometer measurement to a 3-dimensional map of an environment stored in memory;

constraining, at the at least one server, a search space of the 3-dimensional map to a subset for comparing the at least one picture and at least one accelerometer measurement to the 3-dimensional map; and

transmitting, from the at least one server, localization to the mobile electronic device indicative of a 3-dimensional position and orientation of the mobile electronic device within the environment.

12. The non-transitory, tangible computer-readable medium of claim 11, wherein constraining the search space of the 3-dimensional map includes calculating a pitch and roll of the mobile electronic device from the accelerometer measurement.

13. The non-transitory, tangible computer-readable medium of claim 12, wherein constraining the search space of the 3-dimensional map additionally includes approximating a position of the mobile electronic device within the environment using at least one of WiFi geolocation, a two-dimensional barcode or location information input in the mobile electronic device.

14. The non-transitory, tangible computer-readable medium of claim 13, wherein the approximate position of the mobile electronic device is within twenty meters of an actual location of the mobile electronic device.

15. A non-transitory, tangible computer-readable medium storing instructions adapted to be executed by at least one server to perform a method comprising the steps of:

receiving, at the at least one server, input data from at least one picture and at least one accelerometer measurement from a mobile electronic device;

comparing, at the at least one server, the input data from the at least one picture and at least one accelerometer measurement to a 3-dimensional map of an environment stored in memory;

matching, at the at least one server, 2-dimensional feature points from the at least one picture with 3-dimensional feature points of the 3-dimensional map; and

transmitting, from the at least one server, localization to the mobile electronic device indicative of a 3-dimensional position and orientation of the mobile electronic device within the environment.

16. The non-transitory, tangible computer-readable medium of claim 15, additionally storing instructions adapted to be executed by the at least one server to perform the step of:

determining, at the at least one server, a translation vector and a rotation matrix between matched feature point pairs assuming rigid-body motion.