US 8,751,151 B2 · System and method for localizing a trackee at a location and mapping the location using inertial sensor information

Abstract

A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.

Claims25

Dependent claims

A computer-implemented method of localizing a trackee at a location and generating or updating a map of the location based on inertial sensor information, the method being implemented on a computer system that includes one or more physical processors programmed by one or more modules, the method comprising:

identifying, by a feature detection module, at least one sensor feature based on inertial sensor information that includes a plurality of measurements that measure a motion of the trackee at the location, the at least one sensor feature being identified based on a first subset of the plurality of measurements;
identifying, by the feature detection module, a structural feature of the location using only the at least one sensor feature;
determining, by a localization and mapping module, a location estimate that estimates a location of the trackee based on at least a second subset of the plurality of measurements that is the same as or different from the first subset of the plurality of measurements, wherein a position of the structural feature is determined based on the location estimate;
and
generating or updating, by the localization and mapping module, a map of the location based on the structural feature.

2 more elements

A system for localizing a trackee at a location and generating or updating a map of the location based on inertial sensor information, the system comprising:

one or more processors configured to execute computer program modules, the computer program modules comprising:
a feature detection module programmed to:
identify at least one sensor feature based on inertial sensor information that includes a plurality of measurements that measure a motion of the trackee at the location, the at least one sensor feature being identified based on a first subset of the plurality of measurements;
identify a structural feature of the location using only the at least one sensor feature;
and
a localization and mapping module programmed to:
determine a location estimate that estimates a location of the trackee based on at least a second subset of the plurality of measurements that is the same as or different from the first subset of the plurality of measurements, wherein a position of the structural feature is determined based on the location estimate;
and
generate or update a map of the location based on the structural feature.

6 more elements

Dependencies are inferred from the claim text.

System and method for localizing a trackee at a location and mapping the location using inertial sensor information

Life of this patent

System and method for localizing a trackee at a location and mapping the location using inertial sensor information

Life of this patent

Abstract

Claims25