# US 12,442,658 B2 · Determining motion in indoor space using probabilistic representation of motion transition > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,442,658 B2 - Document ID: US12442658B2 - Status: Granted - Kind: B2 - Application number: 17/867,923 - Filed: 2022-07-19 - Published: 2024-01-25 - Granted: 2025-10-14 - Earliest claimed: 2022-07-19 - Assignees: Mapsted Corp. - Applicants: Mapsted Corp - Inventors: Sean Huberman; Ahmed Mahmood; Vera Miller - Web page: https://patentgrep.com/patent/US12442658B2 ## CPC - G01C 21/206: {specially adapted for indoor navigation} - G01C 21/3811: {Point data, e.g. Point of Interest [POI]} - G01C 21/383: {Indoor data} - H04W 4/021: Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences - H04W 4/33: for indoor environments, e.g. buildings - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A method and a device for determining motion of a device are described. In an example, a plurality of points-of-interest (POIs) are identified in a pedestrian area of an indoor space and, with each POI, a probabilistic representation of motion transition of a device from the POI is associated. The probabilistic representation of motion transition is indicative of a probability distribution of likely directions of motion that the device can exhibit from the POI. Further, a map of the indoor space is generated based on the association and the map is usable for ascertaining motion of the device in the indoor space. ## Claims ### Claim 1 A method comprising: identifying a plurality of points-of-interest (POIs) in a pedestrian area of an indoor space, the plurality POIs being identified by filling the indoor space with a predefined number of points at which probabilistic representation of motion transition is determined; for each POI from amongst the plurality of POIs, associating with each POI a probabilistic representation of motion transition of a device from the POI, wherein the probabilistic representation of motion transition is indicative of a probability distribution of likely directions of motion that the device can exhibit from the POI, and wherein the associating comprises determining the probabilistic representation of motion transition of the device from the POI based on a geometry of a region of the POI in the indoor space, and a position of the POI in the indoor space and neighboring POIs; generating a map of the indoor space based on the associating; and ascertaining a probable motion of the device in the indoor space based on the generated map. ### Claim 2 (depends on 1) The method of claim 1, wherein the associating comprises determining an orientation of the probabilistic representation of motion transition at the POI with respect to the indoor space. ### Claim 3 (depends on 1) The method of claim 1, wherein the probabilistic representation of motion transition is one of: a balanced probability indicating a substantially equal probability of motion transition in all directions; a skewed symmetric probability indicating relatively high probability of motion in two opposite directions and relatively low probability of motion in other directions; a skewed asymmetric probability indicating relatively high probability of motion in two non-opposite directions and relatively low probability of motion in the other directions; a skewed unidirectional asymmetric probability indicating one of relatively high probability of motion in one direction and relatively low probability of motion in the other directions; and a skewed non-unidirectional asymmetric probability indicating a relatively low probability of motion in one direction and a relatively high probability of motion in other directions. ### Claim 4 (depends on 1) The method of claim 1, wherein the associating comprises determining the probabilistic representation of motion transition of the device from the POI is further based on: sensorial data collected for the POI by a collection device, the sensorial data being indicative at least of a motion behavior of the collection device in a vicinity of the POI. ### Claim 5 A method comprising: dividing a pedestrian area of an indoor space, in a floor plan thereof, into a plurality of constructional blocks abutting each other, a constructional block comprising a plurality of POIs, the plurality of POIs being identified by filling the indoor space with a predefined number of points at which probabilistic representation of motion transition is determined; for each constructional block from amongst the plurality of constructional blocks, associating with the constructional block a probabilistic representation of motion transition of a device in the constructional block, wherein the probabilistic representation of motion transition is indicative of a probability distribution of likely directions of motion that the device can exhibit in the constructional block, and wherein associating comprises determining the probabilistic representation of motion transition of the device from each POI based on a geometry of a region of the POI in the constructional block, and a position of the POI in the constructional block and neighboring POIs; generating a map of the indoor space based on the associating; and ascertaining a probable motion of the device in the indoor space based on the generated map. ### Claim 6 (depends on 5) The method of claim 5, wherein each of the plurality of constructional blocks is one of a tessellated grid, a zone, and a combination thereof, the associating comprising dividing the zone into a plurality of tessellated grids and correlating the probabilistic representation of motion transition of the device in each of the plurality of tessellated grids. ### Claim 7 (depends on 5) The method of claim 5, wherein the associating comprises determining an orientation of the probabilistic representation of motion transition within the constructional block. ### Claim 8 (depends on 5) The method of claim 5, wherein the probabilistic representation of motion transition is one of: a balanced probability indicating a substantially equal probability of motion transition in all directions; a skewed symmetric probability indicating relatively high probability of motion in two opposite directions and relatively low probability of motion in other directions; a skewed asymmetric probability indicating relatively high probability of motion in two non-opposite directions and relatively low probability of motion in the other directions; a skewed unidirectional asymmetric probability indicating one of relatively the other directions; and a skewed non-unidirectional asymmetric probability indicating a relatively low probability of motion in one direction and a relatively high probability of motion in other directions, wherein the associating comprising determining the probabilistic representation of motion transition of the device at a plurality of points-of-interest in the constructional block. ### Claim 9 (depends on 5) The method of claim 5, wherein the ascertaining the motion of the device comprises one of initializing the device in the indoor space, validating the ascertaining of the motion, and correcting the ascertaining of the motion. ### Claim 10 (depends on 5) The method of claim 5, wherein the associating comprises determining the probabilistic representation of motion transition of the device in the constructional block is further based on: sensorial data collected for the POI by a collection device, the sensorial data being indicative at least of a motion behavior of the collection device in a vicinity of the POI. ### Claim 11 A computing device comprising: a processor; and a memory storing a set of instructions, the instructions executable in the processor to: identify a plurality of points-of-interest (POIs) in a pedestrian area of an indoor space, the plurality of POIs being identified by filling the indoor space with a predefined number of points at which probabilistic representation of motion transition is determined; for each POI from amongst the plurality of POIs, associate with the POI a probabilistic representation of motion transition of a device from the POI, wherein the probabilistic representation of motion transition is indicative of a probability distribution of likely directions of motion that the device can exhibit from the POI, and wherein associating comprises determining the probabilistic representation of motion transition of the device from the POI based on a geometry of a region of the POI in the indoor space, and a position of the POI in the indoor space and neighboring POIs; generate a map of the indoor space based on the associating; and ascertain a probable motion of the device in the indoor space based on the generated map. ### Claim 12 (depends on 11) The computing device of claim 11 further comprising instructions executable in the processor to determine an orientation of the probabilistic representation of motion transition at the POI with respect to the indoor space. ### Claim 13 (depends on 11) The computing device of claim 11, wherein the probabilistic representation of motion transition is one of: a balanced probability indicating a substantially equal probability of motion transition in all directions; a skewed symmetric probability indicating relatively high probability of motion in two opposite directions and relatively low probability of motion in other directions; a skewed asymmetric probability indicating relatively high probability of motion in two non-opposite directions and relatively low probability of motion in the other directions; a skewed unidirectional asymmetric probability indicating one of relatively the other directions; and a skewed non-unidirectional asymmetric probability indicating a relatively low probability of motion in one direction and a relatively high probability of motion in other directions. ### Claim 14 (depends on 11) The computing device of claim 11, further comprising instructions executable in the processor to determine the probabilistic representation of motion transition of the device from the POI is further based on: sensorial data collected for the POI by a collection device, the sensorial data being indicative at least of a motion behavior of the collection device in a vicinity of the POI. ### Claim 15 A computing device comprising: a processor; and a memory storing a set of instructions, the instructions executable in the processor to: divide a pedestrian area of an indoor space, in a floor plan thereof, into a plurality of constructional blocks abutting each other, a constructional block comprising a plurality of POIs, the plurality of POIs being identified by filling the indoor space with a predefined number of points at which probabilistic representation of motion transition is determined; for each constructional block from amongst the plurality of constructional blocks, associate with the constructional block a probabilistic representation of motion transition of a device in the constructional block, wherein the probabilistic representation of motion transition is indicative of a probability distribution of likely directions of motion that the device can exhibit in the constructional block, and wherein associating comprises determining the probabilistic representation of motion transition of the device from each POI based on a geometry of a region of the POI in the constructional block, and a position of the POI in the constructional block and neighboring POIs; generate a map of the indoor space based on the associating; and ascertain motion of the device in the indoor space based on the generated map. ### Claim 16 (depends on 15) The computing device of claim 15, wherein each of the plurality of constructional blocks is one of a tessellated grid, a zone, and a combination thereof, the associating comprising dividing the zone into a plurality of tessellated grids and correlating the probabilistic representation of motion transition of the device in each of the plurality of tessellated grids. ### Claim 17 (depends on 15) The computing device of claim 15, further comprising instructions executable in the processor to determine an orientation of the probabilistic representation of motion transition within the constructional block. ### Claim 18 (depends on 15) The computing device of claim 15, wherein the probabilistic representation of motion transition is one of: a balanced probability indicating a substantially equal probability of motion transition in all directions; a skewed symmetric probability indicating relatively high probability of motion in two opposite directions and relatively low probability of motion in other directions; a skewed asymmetric probability indicating relatively high probability of motion in two non-opposite directions and relatively low probability of motion in the other directions; a skewed unidirectional asymmetric probability indicating one of relatively the other directions; and a skewed non-unidirectional asymmetric probability indicating a relatively low probability of motion in one direction and a relatively high probability of motion in other directions, wherein the associating comprising determining the probabilistic representation of motion transition of the device at a plurality of points-of-interest in the constructional block. ### Claim 19 (depends on 15) The computing device of claim 15 further comprising instructions executable in the processor to initialize the device in the indoor space, validate the ascertaining of the motion, and correct the ascertaining of the motion. ### Claim 20 (depends on 15) The computing device of claim 15 further comprising instructions executable in the processor to determine the probabilistic representation of motion transition of the device in the constructional block is further based on: sensorial data collected for the POI by a collection device, the sensorial data being indicative at least of a motion behavior of the collection device in a vicinity of the POI.