Systems and methods for graph-based localization and mapping
US10075818B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 13, 2017 |
| Grant date | Sep 11, 2018 |
| Priority date | — |
| Expiry date | Sep 13, 2037 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04W24/10
- WIPO fieldDigital communication
- WIPO sectorElectrical engineering
Abstract
Traces are collected by multiple portable devices moving with an area that includes an indoor region, with each of the traces including measurements of wireless signals at different times, including measurements of wireless signals from signal sources disposed within the area. A motion map for the geographic area is constructed by determining, for each of the cells that make the motion map, respective probabilities of moving in various directions relative to each cell. Location estimates for the portable devices and the signal sources are generated using graph-based SLAM optimization of the location estimates. The graph-based SLAM optimization includes determining to which of the cells of the motion map the location estimate corresponds and applying the measurements of wireless signals sources and the set of probabilities of the cells as a first constraint and a second constraint, respectively, in the graph-based SLAM optimization.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.