Method and system for calibration of an indoor space

Patent metadata

Field	Value
Publication number	US-11700504-B2
Application number	US-202217590635-A
Country	US
Kind code	B2
Filing date	Feb 1, 2022
Priority date	Dec 25, 2020
Publication date	Jul 11, 2023
Grant date	Jul 11, 2023

Abstract

A method and a device for performing targeted calibration are described. In an example, instructions to acquire spatial data in a predefined region in an indoor space is are received, the indoor space divided into a grid of a plurality of polygonal tiles in a size-wise hierarchy and tessellated at each level of the size-wise hierarchy, wherein the instructions comprise information regarding a group of polygonal tiles from amongst the plurality of polygonal tiles in the predefined region to gather the spatial data for, the group of polygonal tiles selected at a hierarchical level in the size-wise hierarchy, and wherein the spatial data is to be gathered for the group of polygonal tiles along a substantially continuous path connecting the group of polygonal tiles to be traversed for gathering the spatial data. In response to the instructions, acquisition of the spatial data along the substantially continuous path may be commenced. A feedback indicative of conformance, in real-time, to the substantially continuous path may be generated and the acquisition of the spatial data may be adjusted, based on the feedback.

First claim

What is claimed is:

1. A method comprising:
receiving instructions to acquire spatial data in a predefined region in an indoor space, the indoor space divided into a grid of a plurality of polygonal tiles in a size-wise hierarchy and tessellated at each level of the size-wise hierarchy, wherein the instructions comprise information regarding a group of polygonal tiles from amongst the plurality of polygonal tiles in the predefined region to gather the spatial data for, the group of polygonal tiles selected at a hierarchical level in the size-wise hierarchy, and wherein the spatial data is to be gathered for the group of polygonal tiles along a substantially continuous path connecting the group of polygonal tiles to be traversed for gathering the spatial data;
commencing, in response to the instructions, acquisition of the spatial data along the substantially continuous path;
generating a feedback indicative of conformance, in real-time, to the substantially continuous path; and
adjusting the acquisition of the spatial data, based on the feedback.

2. The method of claim 1 , wherein the substantially continuous path is determined based on an optimized route connecting the group of polygonal tiles.

3. The method of claim 2 , wherein the optimized route is based at least on a shortest route connecting the group of polygonal tiles to be traversed for gathering the spatial data.

4. The method of claim 1 , further comprising:
obtaining a user input regarding modification in a parameter associated with the substantially continuous path, wherein a modified continuous path is generated based on the user input; and
generating the feedback indicative of conformance, in real-time, to the modified continuous path.

5. The method of claim 4 , wherein the parameter comprises a pace of traversal, the pace of traversal comprising at least one of a speed of traversal along the substantially continuous path and an orientation during traversal along the substantially continuous path.

6. The method of claim 1 , wherein the substantially continuous path is to connect the group of polygonal tiles having a density of the spatial data less than a predetermined threshold.

7. The method of claim 1 , wherein the generating comprises determining conformance to a pace of traversal, the conformance to the pace of traversal being indicative of an acceptable deviation from at least one of a speed of traversal along the substantially continuous path and an orientation during traversal along the substantially continuous path.

8. The method of claim 1 , wherein the adjusting comprises conforming to at least one of the substantially continuous path and a pace of traversal of the substantially continuous path.

9. The method of claim 1 , further comprising providing, on a graphical user interface, the substantially continuous path and the conformance to the substantially continuous path in real time.

10. A calibration device comprising:
a processor; and
a memory storing a set of instructions, the instructions executable in the processor to:
receive instructions to acquire spatial data in a predefined region in an indoor space, the indoor space divided into a grid of a plurality of polygonal tiles in a size-wise hierarchy and tessellated at each level of the size-wise hierarchy, wherein the instructions comprise information regarding a group of polygonal tiles from amongst the plurality of polygonal tiles in the predefined region to gather the spatial data for, the group of polygonal tiles selected at a hierarchical level in the size-wise hierarchy, and wherein the spatial data is to be gathered for the group of polygonal tiles along a substantially continuous path connecting the group of polygonal tiles to be traversed for gathering the spatial data;
commence, in response to the instructions, acquisition of the spatial data along the substantially continuous path; and
generate a feedback indicative of conformance, in real-time, to the substantially continuous path, wherein the acquisition of the spatial data along the substantially continuous path is adjustable by conforming to at least one the substantially continuous path in response to the feedback.

11. The calibration device of claim 10 , wherein the substantially continuous path is determined based on an optimized route connecting the group of polygonal tiles.

12. The calibration device of claim 11 , wherein the optimized route is based at least on a shortest route connecting the group of polygonal tiles to be traversed for gathering the spatial data.

13. The calibration device of claim 10 , wherein the substantially continuous path is to connect the group of polygonal tiles having a density of the spatial data less than a predetermined threshold.

14. The calibration device of claim 10 , further comprising instructions executable in the processor to generate the feedback based on conformance to the pace of traversal, the conformance to the pace of traversal being indicative of an acceptable deviation from at least one of a speed of traversal along the substantially continuous path and an orientation during traversal along the substantially continuous path.

15. The calibration device of claim 14 , further comprising instructions executable in the processor to adjust the acquisition of the spatial data along the substantially continuous path, response to the feedback, by conforming to the pace of traversal.

16. The calibration device of claim 10 , further comprising instructions executable in the processor to:
obtain a user input regarding modification in a parameter associated with the substantially continuous path, wherein a modified continuous path is generated based on the user input; and
generate the feedback indicative of conformance, in real-time, to the modified continuous path.

17. The calibration device of claim 16 , wherein the parameter comprises a pace of traversal, the pace of traversal comprising at least one of a speed of traversal along the substantially continuous path and an orientation during traversal along the substantially continuous path.

18. The calibration device of claim 10 , further comprising a user interface (UI) to display the substantially continuous path and the conformance of the calibration device to the substantially continuous path in real time.

19. The calibration device of claim 18 , further comprising instructions executable in the processor to:
monitor an instantaneous actual position of the calibration device along the substantially continuous path;
determine an expected position of the calibration device based on an indicator on the user interface; and
generate the feedback upon a mismatch between the expected position with the instantaneous actual position beyond a predetermined threshold.

Assignees

• Mahmood Ahmed
• Karon Joshua
• Huberman Sean
• Miller Vera
• Gulo Eros
• Chen Naiyu
• Mapsted Corp

Inventors

• Mahmood Ahmed
• Karon Joshua
• Huberman Sean
• Miller Vera
• Gulo Eros
• Chen Naiyu

Classifications

• G01C21/206

  specially adapted for indoor navigation · CPC title

• G01C21/3881

  Tile-based structures · CPC title

• H04W4/029 Primary

  Location-based management or tracking services · CPC title

• G01C21/32

  Structuring or formatting of map data · CPC title

• H04W4/021 Primary

  Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences · CPC title