# US 2014/0152809 A1 · Image assistance for indoor positioning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0152809 A1 - Document ID: US20140152809A1 - Status: Published application - Kind: A1 - Application number: 13/689,933 - Filed: 2012-11-30 - Published: 2014-06-05 - Earliest claimed: 2012-11-30 - Assignees: Cambridge Silicon Radio Limited - Applicants: Cambridge Silicon Radio Limited - Inventors: Murray Robert Jarvis - Web page: https://patentgrep.com/patent/US20140152809A1 ## CPC - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - G01S 5/0264: {at least one of the systems being a non-radio wave positioning system} - G01S 5/16: using electromagnetic waves other than radio waves - G01S 5/0252: {Radio frequency fingerprinting} - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - 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 ## Abstract A method for tracking collector devices in an indoor area associated with imaging devices and RF signal sources covering the area includes generating aspects of a plurality of coarse position tracks of the collector devices based on RF signal measurements obtained by the collector devices from the RF signal sources. Imaging devices capture image frames of the collector devices in the indoor area which are then processed in order to determine aspects of a plurality of fine position tracks of the collector devices. The server and the collector device communicate with each other and match aspects of at least one of the fine position tracks to the aspects of the coarse position track of the communicating collector device in order to determine the precise location of the collector device in the indoor area. ## Claims ### Claim 1 A method for determining a fine position of a collector device associated with a server and a plurality of imaging devices coupled to the server, the method comprising the collector device: collecting multiple sets of sensor measurements from at least one sensor associated with the collector device; determining at least aspects of a coarse position track based on the multiple sets of sensor measurements; receiving from the server at least respective one of the aspects of a plurality of fine position tracks imaged by the imaging devices; and determining the fine position of the collector device by matching at least the aspects of the coarse position track to the aspects of at least one of the fine position tracks. ### Claim 2 (depends on 1) The method of claim 1, wherein the at least one sensor associated with the collector device includes a pedestrian dead reckoning (PDR) sensor and the step of determining at least the aspects of the coarse position track further includes using PDR sensor data to quantify a path, including the aspects of the coarse position track. ### Claim 3 (depends on 2) The method of claim 2, wherein the step of determining at least the aspects of the coarse position track based on pedestrian dead reckoning (PDR) further includes a step of calibrating the PDR using at least the aspects of the fine position tracks. ### Claim 4 (depends on 1) The method of claim 1, further including a plurality of RF signal sources, wherein the collecting step collects sensor measurement data representing respective signal strengths of at least a portion of the plurality of RF signal sources. ### Claim 5 (depends on 1) The method of claim 1, wherein the step of receiving at least the aspects of the fine position tracks further includes a step of receiving the of the fine position tracks labeled with respective time-stamps. ### Claim 6 (depends on 1) The method of claim 1, wherein the step of receiving further includes a step of time calibration of the collector device with the server and the imaging devices. ### Claim 7 (depends on 1) The method of claim 1, wherein the step of receiving includes receiving at least the aspects of the fine position tracks over a secure link from the server. ### Claim 8 (depends on 1) The method of claim 1, wherein the step of receiving at least the aspects of fine position tracks further includes a step of receiving the aspects of the fine position tracks lying within a region of uncertainty of the coarse position track to the exclusion of the aspects of any fine position tracks lying outside of the region of uncertainty of the coarse position track. ### Claim 9 (depends on 1) The method of claim 1, wherein the aspects include at least one of a left turn, right turn, u-turn, acceleration and a deceleration. ### Claim 10 A method for determining a fine position of a collector device associated with a server and a plurality of imaging devices coupled to the server, the method comprising the server: receiving a plurality of fine position tracks from a plurality of imaging devices and aggregating corresponding ones of the fine position tracks; receiving requests from the collector devices for aspects of the fine position tracks and sending the aspects of the aggregated corresponding fine position tracks to the requesting collector devices. ### Claim 11 (depends on 10) The method of claim 10, wherein the step of receiving further includes a step of receiving aspects of a plurality of coarse position tracks of the plurality of collector devices respectively. ### Claim 12 (depends on 10) The method of claim 10, wherein the step of aggregating the fine position tracks further includes a step of aggregating overlapping fine position tracks, captured by at least two different imaging devices, into a single fine position track. ### Claim 13 (depends on 12) The method of claim 12, wherein the step of aggregating the overlapping fine position tracks further includes a step of averaging the overlapping fine position tracks. ### Claim 14 (depends on 12) The method of claim 12, wherein the overlapping fine position tracks, captured by at least two different imaging devices, are in respective coordinate systems and the method further includes a step of transforming the respective fine position tracks into a common coordinate system. ### Claim 15 (depends on 14) The method of claim 14, wherein the step of transforming the fine position tracks further includes a step sending reference images in the common coordinate system to the imaging devices. ### Claim 16 A method for determining a fine position of a collector device associated with a server and a plurality of imaging devices coupled to the server, the method comprising the imaging devices: capturing a plurality of image frames of a plurality of moving objects; wherein each of the image frames comprises a plurality of pixels; determining motion information of at least one of the moving objects by analyzing the pixel differences among consecutive image frames including the moving object; generating a plurality of fine position tracks based on the motion information of the moving objects; and sending at least aspects of the fine position tracks to the server. ### Claim 17 (depends on 16) The method of claim 16, wherein the step of capturing a plurality of image frames is performed by a plurality of networked cameras. ### Claim 18 (depends on 16) The method of claim 16, wherein the step of capturing a plurality of image frames further includes a step of mapping the plurality of pixels to a plurality of coordinate positions. ### Claim 19 (depends on 16) The method of claim 16, wherein the step of determining motion information further includes a step of determining motion of contiguous pixels representing the object. ### Claim 20 (depends on 16) The method of claim 16, wherein the step of mapping pixels further includes a step of mapping pixels to biometric information of the moving object. ### Claim 21 (depends on 16) The method of claim 16, wherein the step of determining motion of contiguous pixels representing the object further includes a step of determining a trajectory of the object.