Localized map generation

Patent metadata

Field	Value
Publication number	US-11118911-B2
Application number	US-201815923775-A
Country	US
Kind code	B2
Filing date	Mar 16, 2018
Priority date	May 27, 2014
Publication date	Sep 14, 2021
Grant date	Sep 14, 2021

Abstract

A method of creating a local map includes: receiving, at a mobile electronic data processing apparatus, a request from a server to generate a map of a specified destination; sending to the server a message accepting the request to generate the map responsive to receiving, at a user input of the mobile electronic data processing device, a user command indicating acceptance of the request; generating, using a processor, information related to construction of the map; an transmitting, from the mobile electronic data processing apparatus, the information related to construction of the map.

First claim

What is claimed is:

1. A device comprising:
a processor; and
a memory comprising instructions executable by the processor to:
receive, at a mobile device, a series of images;
receive, at the mobile device, inertial data;
identify a trajectory of the mobile device based on a cost minimization of candidate trajectories determined using the series of images and the inertial data;
identify a loop closure in response to determining that a first image of the series of images matches a second image of the series of images;
generate, in response to identifying the loop closure, a refined trajectory using the trajectory, the series of images, the inertial data, and the loop closure; and
generate a map based on refined trajectory.

2. The device of claim 1 , wherein the instructions to identify a trajectory of the mobile device based on a cost minimization of candidate trajectories determined using the series of images and the inertial data further comprises instructions to:
assign a first cost to a first candidate trajectory based on consistency of the first candidate trajectory with a plurality of factors, the plurality of factors including locations of features within the series of images, correspondence between features in the series of images, stationary periods indicated by the inertial data, and motion measurements indicated by the inertial data;
assign a second cost to a second candidate trajectory based on consistency of the second candidate trajectory with the plurality of factors; and
select the first candidate trajectory as the trajectory based on a comparison of the first cost to the second cost.

3. The device of claim 2 , wherein the memory further includes instructions executable by the processor to:
assign a third cost to a third candidate trajectory based on consistency of the third candidate trajectory with the plurality of factors and the loop closure;
assign a fourth cost to a fourth candidate trajectory based on consistency of the fourth candidate trajectory with the plurality of factors and the loop closure; and
select the third candidate trajectory as the refined trajectory.

4. The device of claim 3 , wherein the memory further includes instructions executable by the processor to select the third candidate trajectory and the fourth candidate trajectory based on the identified trajectory.

5. The device of claim 1 , wherein the memory further includes instructions executable by the processor to generate a map based on the refined trajectory.

6. The device of claim 5 , wherein the memory further includes instructions executable by the processor to initiate transmission of data representing the map to another device.

7. The device of claim 5 , wherein the memory further includes instructions executable by the processor to generate a user interface configured to receive drawing input indicating a position of a boundary around the refined trajectory, wherein the instructions executable by the processor to generate the map based on the refined trajectory are executable to generate the map based further on the position of the boundary.

8. The device of claim 5 , wherein the memory further includes instructions executable by the processor to:
generate a user interface configured to present a request to place the mobile device at a boundary; and
identify a location as a position of the boundary in response to determining that the mobile device has been located at the location for a threshold period of time, wherein the instructions executable by the processor to generate the map based on the refined trajectory are executable to generate the map based further on the position of the boundary.

9. A non-transitory computer readable medium comprising instructions executable by a processor to:
receive, at a mobile device, a series of images;
receive, at the mobile device, inertial data;
identify a trajectory of the mobile device based on a cost minimization of candidate trajectories determined using the series of images and the inertial data;
identify a loop closure in response to determining that a first image of the series of images matches a second image of the series of images;
generate, in response to identifying the loop closure, a refined trajectory using the trajectory, the series of images, the inertial data, and the loop closure; and
generate a map based on refined trajectory.

10. The non-transitory computer readable medium of claim 9 , wherein the instructions to identify a trajectory of the mobile device based on a cost minimization of candidate trajectories determined using the series of images and the inertial data further comprises instructions to:
assign a first cost to a first candidate trajectory based on consistency of the first candidate trajectory with a plurality of factors, the plurality of factors including locations of features within the series of images, correspondence between features in the series of images, stationary periods indicated by the inertial data, and motion measurements indicated by the inertial data;
assign a second cost to a second candidate trajectory based on consistency of the second candidate trajectory with the plurality of factors; and
select the first candidate trajectory as the trajectory based on a comparison of the first cost to the second cost.

11. The non-transitory computer readable medium of claim 10 , wherein the instructions executable by the processor to refine the trajectory include instructions executable by the processor to:
assign a third cost to a third candidate trajectory based on consistency of the third candidate trajectory with the plurality of factors and the loop closure;
assign a fourth cost to a fourth candidate trajectory based on consistency of the fourth candidate trajectory with the plurality of factors and the loop closure; and
select the third candidate trajectory as the refined trajectory.

12. The non-transitory computer readable medium of claim 11 , further comprising instructions executable by the processor to select the third candidate trajectory and the fourth candidate trajectory based on the identified trajectory.

13. The non-transitory computer readable medium of claim 9 , further comprising instructions executable by the processor to generate a map based on the refined trajectory.

14. The non-transitory computer readable medium of claim 13 , further comprising instructions executable by the processor to initiate transmission of data representing the map to another device.

15. The non-transitory computer readable medium of claim 14 , further comprising instructions executable by the processor to generate a user interface configured to receive drawing input indicating a position of a boundary around the refined trajectory, wherein the instructions executable by the processor to generate the map based on the refined trajectory are executable to generate the map based further on the position of the boundary.

16. The non-transitory computer readable medium of claim 14 , further comprising instructions executable by the processor to:
generate a user interface configured to present a request to place the mobile device at a boundary; and
identify a location as a position of the boundary in response to determining that the mobile device has been located at the location for a threshold period of time, wherein the instructions executable by the processor to generate the map based on the refined trajectory are executable to generate the map based further on the position of the boundary.

17. A method comprising:
receiving, at a mobile device, a series of images;
re

Assignees

• Apple Inc

Inventors

• Flint Alex
• Naroditsky Oleg
• Grygorenko Andriy
• Bergig Oriel

Classifications

• G01C21/1656

  with passive imaging devices, e.g. cameras · CPC title

• G06T7/73

  using feature-based methods · CPC title

• G01C21/206 Primary

  specially adapted for indoor navigation · CPC title

• G06T7/246

  using feature-based methods, e.g. the tracking of corners or segments · CPC title

• G01C21/165

  combined with non-inertial navigation instruments · CPC title