Visual and RF sensor fusion for multi-agent tracking
AssigneeNEC Corporation
InventorsKarthikeyan Sundaresan, Ramanujan Sheshadri, Mallesham Dasari
Life of this patent
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Abstract
Methods and systems for determining a device position include determining a first position estimate using radio-based range information. A second position estimate is determined using visual odometry information. The first position estimate and the second position estimate are fused based on radio environmental conditions and visual environmental conditions to determine a final position estimate. Resources are deployed based on the final position estimate.
Claims19
A computer-implemented method for determining a device position, comprising:
- determining a first position estimate using radio-based range information;
- determining a second position estimate using visual odometry information;
- determining an impact of non-line-of-sight paths on the first position estimate;
- fusing the first position estimate and the second position estimate based on radio environmental conditions and visual environmental conditions to determine a final position estimate;
- and
- deploying resources based on the final position estimate.
A system for determining a device position, comprising:
- a hardware processor;
- and
- a memory that stores a computer program, which, when executed by the hardware processor, causes the hardware processor to:
- determine a first position estimate using radio-based range information;
- determine a second position estimate using visual odometry information;
- determine an impact of non-line-of-sight paths on the first position estimate;
- fuse the first position estimate and the second position estimate based on radio environmental conditions and visual environmental conditions to determine a final position estimate;
- and
- deploy resources based on the final position estimate.
A computer-implemented method for determining a device position, comprising:
- determining a first position estimate using radio-based range information;
- determining a second position estimate using visual odometry information;
- determining an impact of environmental conditions on the second position estimate by determining keypoint matches between image frames;
- fusing the first position estimate and the second position estimate based on radio environmental conditions and visual environmental conditions to determine a final position estimate, including processing a vector that is a concatenation of the second position estimate and keypoint matches;
- and
- deploying resources based on the final position estimate.
Dependencies are inferred from the claim text.