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US 9,316,501 B2Granted
Generating magnetic field map for indoor positioning
AssigneeIndooratlas Oy
InventorJanne Haverinen
Life of this patent
Estimating the term…
Abstract
Disclosed is an apparatus caused to acquire information indicating a measured magnetic field vector and information relating to an uncertainty measure of the measured magnetic field vector in at least one known location inside the building, wherein the indicated magnetic field vector represents magnitude and direction of the earth's magnetic field affected by the local structures of the building, and to generate the indoor magnetic field map for at least part of the building on the basis of at least the acquired information and the floor plan.
Claims19
An apparatus, comprising:
- at least one processor and at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to perform at least operations comprising:
- acquiring an indication of at least one magnetic field vector measured by a mobile device indoors, wherein each magnetic field vector represents magnitude and direction of the Earth magnetic field affected by the local structures of a building;
- acquiring at least one image or image feature of at least one image, wherein each image is captured by the mobile device in the building where the at least one magnetic field vector is measured, and wherein the mobile device is equipped with at least two cameras and the mobile device is configured to capture at least two images with the cameras;
- applying each of the at lest two images in positioning the mobile device in the building;
- and
- applying the at least one magnetic field vector and the at least one image or image feature in positioning the mobile device in the building.
3 more elements
A method, comprising:
- acquiring an indication of at least one magnetic field vector measured by a mobile device indoors, wherein the magnetic field vector represents magnitude and direction of the earth's magnetic field affected by the local structures of a building;
- acquiring at least one image or image feature of at least one image, wherein each image is captured by the mobile device in the building where the at least one magnetic field vector is measured, and wherein the image feature comprises a local binary pattern (LBP) histogram of the corresponding image;
- and
- applying the at least one magnetic field vector and the at least one image or image feature in positioning the mobile device in the building.
1 more element
A non-transitory computer program product embodied on a distribution medium readable by a computer and comprising program instructions which, when loaded into an apparatus, execute a method comprising:
- acquiring an indication of at least one magnetic field vector measured by a mobile device indoors, wherein the magnetic field vector represents magnitude and direction of the earth's magnetic field affected by the local structures of a building;
- acquiring at least one image or image feature of at least one image, wherein each image is captured by the mobile device in the building where the at least one magnetic field vector is measured, and wherein the image feature comprises a local binary pattern (LBP) histogram of the corresponding image;
- and
- applying the at least one magnetic field vector and the at least one image or image feature in positioning the mobile device in the building.
1 more element
An apparatus, comprising:
- at least one processor and at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to perform at least operations comprising:
- acquiring an indication of at least one magnetic field vector measured by a mobile device indoors, wherein each magnetic field vector represents magnitude and direction of the Earth magnetic field affected by the local structures of a building;
- acquiring at least one image or image feature of at least one image, wherein each image is captured by the mobile device in the building where the at least one magnetic field vector is measured, and wherein the image feature comprises a local binary pattern (LBP) histogram of the corresponding image;
- and
- applying the at least one magnetic field vector and the at least one image or image feature in positioning the mobile device in the building.
2 more elements
A method, comprising:
- acquiring an indication of at least one magnetic field vector measured by a mobile device indoors, wherein the magnetic field vector represents magnitude and direction of the earth's magnetic field affected by the local structures of a building;
- acquiring at least one image or image feature of at least one image, wherein each image is captured by the mobile device in the building where the at least one magnetic field vector is measured, and wherein the mobile device is equipped with at least two cameras and the mobile device is configured to capture at least two images with the cameras;
- applying each of the at least two images in positioning the mobile device in the building;
- and
- applying the at least one magnetic field vector and the at least one image or image feature in positioning the mobile device in the building.
2 more elements
A non-transitory computer program product embodied on a distribution medium readable by a computer and comprising program instructions which, when loaded into an apparatus, execute a method comprising:
- acquiring an indication of at least one magnetic field vector measured by a mobile device indoors, wherein the magnetic field vector represents magnitude and direction of the earth's magnetic field affected by the local structures of a building;
- acquiring at least one image or image feature of at least one image, wherein each image is captured by the mobile device in the building where the at least one magnetic field vector is measured, and wherein the mobile device is equipped with at least two cameras and the mobile device is configured to capture at least two images with the cameras;
- applying each of the at least two images in positioning the mobile device in the building;
- and
- applying the at least one magnetic field vector and the at least one image or image feature in positioning the mobile device in the building.
2 more elements
Dependencies are inferred from the claim text.