Method and apparatus for determining location

• US 9,292,936 B2
• Filed: 01/08/2014
• Issued: 03/22/2016
• Est. Priority Date: 01/09/2013
• Status: Active Grant

• Current Assignee: Gonen Bronshtein, Yossef Ofek
• Original Assignee: Omiimii Ltd.
• Inventors: Bronshtein, Gonen
• Primary Examiner(s): Koziol, Stephen R
• Assistant Examiner(s): Azima, Shaghayegh
• Application Number:
  US14/149,971
• Publication Number:
  US 20140193040A1
• Time in Patent Office: 804 Days
• Field of Search: 382/107
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments

Abstract

A computer-implemented method and apparatus for determining location, the method comprising: receiving a first sequence of kinematic values related to a route of an image appearing in captured pictures; receiving a second sequence of kinematic values related to a series of readings from at least one inertial sensor received from a mobile device; determining a matching measure between the first sequence of kinematic values and the second sequence of kinematic values; and associating an identifier associated with the mobile device with a location determined from the captured pictures.

Claims

1. A computer-implemented method performed by a computerized device, comprising:

receiving a first sequence of kinematic values related to a route of an image appearing in captured pictures, the first sequence of kinematic values comprising acceleration indications, obtained by deriving twice the route of the image;

receiving a second sequence of kinematic values related to a series of readings from at least one inertial sensor received from a mobile device, the second sequence of kinematic values comprising acceleration indications;

determining a matching measure between the first sequence of kinematic values and the second sequence of kinematic values; and

associating an identifier associated with the mobile device with a location determined from the captured pictures.

2. The computer-implemented method of claim 1, wherein the first sequence of kinematic values and the second sequence of kinematic values comprise location indications.

3. The computer-implemented method of claim 2, further comprising integrating twice the series of readings from the at least one inertial sensor.

4. The computer-implemented method of claim 1, wherein the first sequence of kinematic values and the second sequence of kinematic values comprise velocity indications.

5. The computer-implemented method of claim 4, further comprising integrating the series of readings from the at least one inertial sensor and deriving the route of the image appearing in captured pictures.

6. The computer-implemented method of claim 1, further comprising taking an action related to a user and to the location determined from the captured pictures.

7. The computer-implemented method of claim 1, further comprising:

determining a multiplicity of matching measures between at least one first sequence of kinematic values and at least two second sequences of kinematic values; and

associating an identifier associated with the mobile device which provided a second sequence having best match with the at least one first sequence.

8. The computer-implemented method of claim 1, further comprising:

receiving a series of captures from one or more capturing devices; and

determining the first sequence of kinematic values based on an image appearing in the captures.

9. The computer-implemented method of claim 1, further comprising starting communication between the computerized device and the mobile device.

10. The computer-implemented method of claim 1, further comprising:

receiving a sequence of inertial values from the mobile device; and

determining the second sequence of kinematic values from the sequence of inertial values.

11. The computer-implemented method of claim 1, wherein at least one value associated with the second sequence is set to a kinematic value obtained from the captured pictures.

12. The computer-implemented method of claim 11 wherein the at least one kinematic value is velocity obtained from the captured pictures.

13. The computer-implemented method of claim 11 wherein the at least one kinematic value is a starting location of a route obtained from the captured pictures.

14. A computer-implemented method performed by a computerized device, comprising:

receiving spatial data from a mobile device;

receiving a mapping between locations and earlier collected spatial data; and

based on the spatial data and on mapping between locations and earlier spatial data, associating the spatial data with a location,

wherein the mapping is created using a combination of a first sequence of kinematic values related to a route of an image appearing in captured pictures and comprising acceleration indications obtained by deriving twice the route of the image, and a second sequence of kinematic values related to a series of readings of at least inertial sensor received from a mobile device and comprising acceleration indications.

15. An apparatus having a processing unit and a storage device, the apparatus comprising a server platform, the apparatus comprising:

a first kinematic value sequence receiving for receiving a first sequence of kinematic values related to a route of an image appearing in captured pictures, the first sequence of kinematic values comprising acceleration indications, obtained by deriving twice the route of the image;

a second kinematic value sequence receiving for receiving a second sequence of kinematic values related to a series of readings from at least one inertial sensor received from a mobile device carried by a user, the second sequence of kinematic values comprising acceleration indications;

a sequence matching component for determining a matching measure between the first sequence of kinematic values and the second sequence of kinematic values; and

an identifier and location association component for association the mobile device with a location obtained from the captured pictures.

16. The apparatus of claim 15, wherein the first sequence of kinematic values and the second sequence of kinematic values comprise location indications, and wherein the series of readings from the at least one inertial sensor is integrated twice.

17. The apparatus of claim 15, wherein the first sequence of kinematic values and the second sequence of kinematic values comprise velocity indications and wherein the series of readings from the at least one inertial sensor is integrated, and the route of the image appearing in captured pictures is derived.

18. The apparatus of claim 15, further comprising an action initiating component for taking an action related to a user and to the location determined from the captured pictures.

19. The apparatus of claim 15, wherein the sequence matching component is adapted to determine a multiplicity of matching measures between at least one first sequence of kinematic values and at least two second sequences of kinematic values;

and to associate the mobile device which provided a second sequence having best match with the at least one first sequence.

20. The apparatus of claim 15, further comprising:

a camera communication component for receiving the series of captures from one or more capturing devices; and

a first kinematic value sequence determination component for determining the first kinematic value sequence based on an image appearing in the captures.

21. The apparatus of claim 15, further comprising a mobile device communication component establishing communication between the server platform and the mobile device.

22. The apparatus of claim 15, further comprising a second kinematic value sequence receiving component for determining the second sequence of kinematic values from the sequence of inertial values.

23. The apparatus of claim 15, wherein the sequence matching component is executed by the mobile device.

24. The apparatus of claim 15, further comprising a location and spatial data association component for associating a point or area with spatial data received at the point or area and for receiving spatial data set and retrieving a point or area associated with a stored spatial data set being closes to the spatial data set.

25. A computer program product comprising:

a non-transitory computer readable medium;

a first program instruction for receiving a first sequence of kinematic values related to a route of an image appearing in captured pictures, the first sequence of kinematic values comprising acceleration indications, obtained by deriving twice the route of the image;

a second program instruction for receiving a second sequence of kinematic values related to a series of readings from at least one inertial sensor received from a mobile device, the second sequence of kinematic values comprising acceleration indications; and

a third program instruction for determining a matching measure between the first sequence of kinematic values and the second sequence of kinematic values; and

a fourth program instruction for associating an identifier of the mobile device with a location determined from the captured pictures,

wherein said first, second, third and fourth program instructions are stored on said non-transitory computer readable medium.

26. A computer-implemented method performed by a computerized device, comprising:

receiving a first sequence of kinematic values related to a route of an image appearing in captured pictures;

receiving a second sequence of kinematic values related to a series of readings from at least one inertial sensor received from a mobile device;

determining a matching measure between the first sequence of kinematic values and the second sequence of kinematic values;

associating an identifier associated with the mobile device with a location determined from the captured pictures;

determining a multiplicity of matching measures between at least one first sequence of kinematic values and at least two second sequences of kinematic values; and

associating an identifier associated with the mobile device which provided a second sequence having best match with the at least one first sequence.

27. An apparatus having a processing unit and a storage device, the apparatus comprising a server platform, the apparatus comprising:

a first kinematic value sequence receiving for receiving a first sequence of kinematic values related to a route of an image appearing in captured pictures;

a second kinematic value sequence receiving for receiving a second sequence of kinematic values related to a series of readings from at least one inertial sensor received from a mobile device carried by a user,

a sequence matching component for determining a matching measure between the first sequence of kinematic values and the second sequence of kinematic values; and

an identifier and location association component for association the mobile device with a location obtained from the captured pictures,

wherein the sequence matching component is adapted to determine a multiplicity of matching measures between at least one first sequence of kinematic values and at least two second sequences of kinematic values; and

to associate the mobile device which provided a second sequence having best match with the at least one first sequence.