Methods and systems for path-based mapping and routing

Patent metadata

Field	Value
Publication number	US-12031826-B2
Application number	US-202017596012-A
Country	US
Kind code	B2
Filing date	May 28, 2020
Priority date	Jun 4, 2019
Publication date	Jul 9, 2024
Grant date	Jul 9, 2024

Abstract

Systems and methods of path-based mapping and routing are provided. Translation information and absolute information of mobile objects in environments are determined based on a fusion of sensing data from a radar and an inertial measurement unit (IMU) including a gyroscope and an accelerometer, from which path-based maps and optimal routes can be generated.

First claim

What is claimed is:

1. A method of mapping and routing, comprising:
mounting a sensor assembly on a wearable pack to be worn by a mobile object, the sensor assembly comprising an inertial measurement unit (IMU) and one or more radio-frequency (RF) radar units;
collecting, via the sensor assembly, sensing data comprising (i) one or more radar velocities from the one or more RF radar units, (ii) one or more angular velocities of the mobile object from the IMU, and (iii) one or more linear accelerations from the IMU;
determining, via a processor, translation information and absolute orientation information of the mobile object based on the sensing data;
determining, via the processor, a time series of poses of the mobile object based on a combination of the determined translation information and the determined absolute orientation information; and
combining, via the processor, the time series of poses into a path of the mobile object.

2. The method of claim 1 , wherein the absolute orientation information of the mobile object is determined based on the sensing data from the IMU comprising a gyroscope and an accelerometer.

3. The method of claim 2 , wherein the one or more angular velocities from the gyroscope are combined with a gravity reference from the accelerometer to provide the absolute orientation information.

4. The method of claim 1 , wherein collecting the sensing data further comprises scanning, via the one or more RF radar units, one or more surrounding objects to obtain a time series of radar images.

5. The method of claim 4 , further comprising tracking, via the processor, positions of the one or more identified objects in the time series of radar images.

6. The method of claim 5 , further comprising generating, via the processor, additional translation information based on the tracked positions in the time series of radar images.

7. The method of claim 5 , further comprising generating, via the processor, additional orientation information of the mobile object based on the tracked positions in the time series of radar images.

8. The method of claim 1 , further comprising projecting, via the processor, the path onto a 2-dimensional (2D) plane associated with a plane of a surrounding environment to generate a 2D map thereof.

9. The method of claim 8 , further comprising associating, via the processor, the map with one of multiple stories or floors in a building.

10. The method of claim 1 , further comprising associating, via the processor, the path with a 3-dimensional (3D) space of a surrounding environment to generate a 3D map thereof.

11. The method of claim 8 or 10 , further comprising determining, via the processor, an optimal or near-optimal route between two locations based on the 2D or 3D map.

12. The method of claim 1 , further comprising displaying to a user, via a user interface, mapping and routing information derived from the path.

13. The method of claim 12 wherein the user interface displays a “birds-eye” view of mapping and routing information from one or more mobile objects.

14. The method of claim 1 , further comprising providing one or more thermal imaging sensors to capture one or more thermal images.

15. The method of claim 1 , further comprising providing one or more cameras to capture one or more visible images of one or more surrounding objects.

16. The method of claim 1 , further comprising providing an intelligent environment monitor configured to monitor a surrounding environment and adaptively determine the relative weighting of the sensing data from the sensor assembly.

17. A mapping and routing system comprising:
a wearable pack;
a sensor assembly mounted on the wearable pack to be worn by a mobile object, the sensor assembly comprising an inertial measurement unit (IMU) and one or more radio-frequency (RF) radar units, the sensor assembly configured to sense data comprising (i) one or more radar velocities from the one or more RF radar units, (ii) one or more angular velocities of the mobile object from the IMU, and (iii) one or more linear accelerations from the IMU; and
a processor configured to:
determine translation information and absolute orientation information of the mobile object based on the sensing data from the sensor assembly;
determine a time series of poses of the mobile object based on a combination of the determined translation information and orientation information; and
combine the time series of poses into a path of the mobile object.

18. The system of claim 17 , wherein the IMU comprises a gyroscope and an accelerometer, and the absolute orientation information of the mobile object is determined based on the sensing data from the gyroscope and the accelerometer.

19. The system of claim 18 , wherein the gyroscope is configured to sense the one or more angular velocities, and the accelerometer is configured to provide a gravity reference.

20. The system of claim 17 , wherein the IMU and the one or more RF radar units are mechanically coupled with a known spatial relationship.

Assignees

• 3M Innovative Properties Company

Inventors

• Singh Gautam
• Kruse John M
• Jesme Ronald D
• Kelliher Jr William J
• Odom Jacob E
• Nyland Adam C
• Gabriel Nicholas T
• Aveldson Jason L
• Hagh-Shenas Haleh
• Herfort Frank T
• Gjere Michael L
• Kaur Rachneet
• Wilken-Resman Elias
• Lee Jae Yong
• Addleman Doug A
• Casner Glenn E
• Carlson James D
• Tungjunyatham Justin
• Battle Karl
• Lucht Steven G

Classifications

• G01S13/89

  for mapping or imaging · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title

• G01S13/426

  Scanning radar, e.g. 3D radar (G01S13/66 takes precedence) · CPC title

• G01C21/206 Primary

  specially adapted for indoor navigation · CPC title

• G01S13/723

  by using numerical data · CPC title