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US 12,590,814 B2Granted
Indoor map generation method and apparatus
AssigneeHuawei Technologies Co., Ltd.
InventorsZhi Li, Dandan Zeng, Yongliang Wang
Life of this patent
Estimating the term…
Abstract
This application provides an indoor map generation method and apparatus. In the method, a plurality of first tracks are obtained based on a PDR algorithm. A plurality of first target tracks are further selected from the plurality of first tracks, and at least one second track corresponding to each first target track is extended to the first target track based on the first target track, to obtain a branch. The obtained branches are combined, to obtain a map.
Claims20
A computer-implemented method of indoor map generation, the method comprising:
- identifying a plurality of first tracks based on information received from sensors of a plurality of terminal devices within a period of time and a pedestrian dead reckoning (PDR) algorithm, wherein each first track of the plurality of first tracks represents a curve comprising a position movement of a terminal device, of the plurality of terminal devices, within the period of time, and the first track comprises a plurality of step points of the terminal device on a same floor of a building in a process of the position movement;
- for each first track of the plurality of first tracks,
- segmenting the first track, to identify a set of fourth tracks, based on a change in information from at least one of the sensors, and
- segmenting the first track, to identify a set of fifth tracks, based on one or more inflection points on the first track;
- selecting, from sets of fourth tracks and sets of fifth tracks identified from the plurality of first tracks, a plurality of first target tracks, wherein an accuracy rate of the plurality of first target tracks is higher than an accuracy rate of a plurality of second tracks from the plurality of first tracks;
- for each first target track, connecting the first target track to at least one second track corresponding to the first target track, to generate a branch, wherein the branch comprises the first target track and the at least one second track corresponding to the first target track;
- and
- generating an indoor map for indoor positioning by combining the generated branches.
5 more elements
An indoor map generation device, comprising:
- at least one processor;
- and
- at least one memory coupled to the at least one processor to store program instructions, which when executed by the at least one processor, cause the at least one processor to:
- identify a plurality of first tracks based on information received from sensors of a plurality of terminal devices within a period of time and a pedestrian dead reckoning (PDR) algorithm, wherein each first track of the plurality of first tracks represents a curve comprising a position movement of a terminal device, of the plurality of terminal devices, within the period of time, and the first track comprises a plurality of step points of the terminal device on a same floor of a building in a process of the position movement;
- for each first track of the plurality of first tracks,
- segment the first track, to identify a set of fourth tracks, based on a change in information from at least one of the sensors, and
- segment the first track, to identify a set of fifth tracks, based on one or more inflection points on the first track;
- select, from sets of fourth tracks and sets of fifth tracks identified from the plurality of first tracks, a plurality of first target tracks, wherein an accuracy rate of the plurality of first target tracks is higher than an accuracy rate of a plurality of second tracks from the plurality of first tracks;
- for each first target track, connect the first target track to at least one second track corresponding to the first target track, to generate a branch, wherein the branch comprises the first target track and the at least one second track corresponding to the first target track;
- and
- generate an indoor map for indoor positioning based on a combination of the generated branches.
8 more elements
A non-transitory computer-readable storage medium, storing one or more instructions that, when executed by at least one processor, cause the at least one processor to:
- identify a plurality of first tracks based on information received from sensors of a plurality of terminal devices within a period of time and a pedestrian dead reckoning (PDR) algorithm, wherein each first track of the plurality of first tracks represents a curve comprising a position movement of a terminal device, of the plurality of terminal devices, within the period of time, and the first track comprises a plurality of step points of the terminal device on a same floor of a building in a process of the position movement;
- for each first track of the plurality of first tracks,
- segment the first track, to identify a set of fourth tracks, based on a change in information from at least one of the sensors, and
- segment the first track, to identify a set of fifth tracks, based on one or more inflection points on the first track;
- select, from sets of fourth tracks and sets of fifth tracks identified from the plurality of first tracks, a plurality of first target tracks, wherein an accuracy rate of the plurality of first target tracks is higher than an accuracy rate of a plurality of second tracks from the plurality of first tracks;
- for each first target track, connect the first target track to at least one second track corresponding to the first target track, to generate a branch, wherein the branch comprises the first target track and the at least one second track corresponding to the first target track;
- and
- generate an indoor map for indoor positioning based on a combination of the generated branches.
5 more elements
Dependencies are inferred from the claim text.