WO2013188597A3 - Irregular feature mapping - Google Patents

Irregular feature mapping Download PDF

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Publication number
WO2013188597A3
WO2013188597A3 PCT/US2013/045519 US2013045519W WO2013188597A3 WO 2013188597 A3 WO2013188597 A3 WO 2013188597A3 US 2013045519 W US2013045519 W US 2013045519W WO 2013188597 A3 WO2013188597 A3 WO 2013188597A3
Authority
WO
WIPO (PCT)
Prior art keywords
tracking data
feature mapping
path
irregular feature
irregular
Prior art date
Application number
PCT/US2013/045519
Other languages
French (fr)
Other versions
WO2013188597A2 (en
Inventor
Amrit Bandyopadhyay
Brian BEISEL
John KARVOUNIS
Jared Napora
Benjamin E. Funk
Carole Teolis
Original Assignee
Amrit Bandyopadhyay
Beisel Brian
Karvounis John
Jared Napora
Funk Benjamin E
Carole Teolis
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Amrit Bandyopadhyay, Beisel Brian, Karvounis John, Jared Napora, Funk Benjamin E, Carole Teolis filed Critical Amrit Bandyopadhyay
Publication of WO2013188597A2 publication Critical patent/WO2013188597A2/en
Publication of WO2013188597A3 publication Critical patent/WO2013188597A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/013—Identifying areas in a building
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Disclosed herein are methods and systems for mapping irregular features. In an embodiment, a computer-implemented method may include obtaining tracking data that has dead reckoning tracking data for a tracked subject along a path and performing shape correction on the tracking data to provide a first estimate of the path.
PCT/US2013/045519 2012-06-12 2013-06-12 Irregular feature mapping WO2013188597A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261658883P 2012-06-12 2012-06-12
US61/658,883 2012-06-12

Publications (2)

Publication Number Publication Date
WO2013188597A2 WO2013188597A2 (en) 2013-12-19
WO2013188597A3 true WO2013188597A3 (en) 2014-04-17

Family

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Family Applications (3)

Application Number Title Priority Date Filing Date
PCT/US2013/045519 WO2013188597A2 (en) 2012-06-12 2013-06-12 Irregular feature mapping
PCT/US2013/045522 WO2013188598A2 (en) 2012-06-12 2013-06-12 Fusion of sensor and map data using constraint based optimization
PCT/US2013/045488 WO2013188579A1 (en) 2012-06-12 2013-06-12 Wi-fi enhanced tracking algorithms

Family Applications After (2)

Application Number Title Priority Date Filing Date
PCT/US2013/045522 WO2013188598A2 (en) 2012-06-12 2013-06-12 Fusion of sensor and map data using constraint based optimization
PCT/US2013/045488 WO2013188579A1 (en) 2012-06-12 2013-06-12 Wi-fi enhanced tracking algorithms

Country Status (2)

Country Link
US (5) US9297658B2 (en)
WO (3) WO2013188597A2 (en)

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WO2013188597A2 (en) 2013-12-19
US20150354965A1 (en) 2015-12-10
US9778044B2 (en) 2017-10-03
US10571270B2 (en) 2020-02-25
US20130332065A1 (en) 2013-12-12
US9297658B2 (en) 2016-03-29
US9746327B2 (en) 2017-08-29
US20170363426A1 (en) 2017-12-21
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