Simultaneous localization and mapping systems and methods

Patent metadata

Field	Value
Publication number	US-2015119086-A1
Application number	US-201314063735-A
Country	US
Kind code	A1
Filing date	Oct 25, 2013
Priority date	Oct 25, 2013
Publication date	Apr 30, 2015
Grant date	—

Abstract

A system and method for providing localization and mapping within an environment includes at least one mobile device adapted to be moved within the environment. The at least one mobile device includes an inertial measurement unit and at least one radio frequency receiver. The at least one mobile device detects inertial measurements through the inertial measurement unit and values of signal strength through the at least one radio frequency receiver. The system and method also includes a localization module that provides simultaneous localization and mapping of the at least one mobile device within the environment based at least on the inertial measurements detected by the inertial measurement unit and the values of signal strength detected by the at least one radio frequency receiver.

First claim

What is claimed is:

1 . A system for providing localization and mapping within an environment, the system comprising:
at least one mobile device adapted to be moved within the environment, the at least one mobile device including an inertial measurement unit and at least one radio frequency receiver, the at least one mobile device detecting inertial measurements through the inertial measurement unit and values of signal strength from a plurality of sources of radio frequency signals within the environment through the at least one radio frequency receiver; and a localization module receiving the inertial measurements and the values of signal strength, the localization module adapted to provide simultaneous localization and mapping of the at least one mobile device within the environment based at least on the inertial measurements detected by the inertial measurement unit and the values of signal strength detected by the at least one radio frequency receiver.

2 . The system according to claim 1 , additionally comprising a display for displaying an estimated trajectory of the at least one mobile device.

3 . The system according to claim 1 , wherein the at least one mobile device includes a plurality of radio frequency receivers of different modalities; and
wherein the localization module provides localization based on values of signal strength detected by the plurality of radio frequency receiver.

4 . The system according to claim 3 , wherein the plurality of radio frequency receivers includes a WiFi receiver and a 4G LTE receiver.

5 . The system according to claim 4 , wherein the plurality of radio frequency receivers includes a Bluetooth receiver.

6 . The system according to claim 1 , wherein the inertial sensor includes a three-axis accelerometer and a three-axis gyroscope.

7 . The system according to claim 1 , additionally comprising at least one of a global positioning system, a near field communication chip and a camera adapted to read two-dimensional barcodes;
wherein the simultaneous localization and mapping provided by the localization module is also based on absolute landmark positions detected by at least one of the global positioning system, near field communication chip or camera.

8 . The system according to claim 1 , wherein the localization module resides on the at least one mobile device.

9 . A computerized method comprising the steps of:
detecting, through an inertial sensor of at least one mobile device, inertial measurements as the at least one mobile device is moved within an environment; detecting, through a radio frequency receiver of the at least one mobile device, values of radio frequency signal strength as the mobile device is moved within the environment; and estimating, by a localization module executing on a processor, a trajectory of the mobile device within the environment based at least on the inertial measurements from the inertial sensor and the values of signal strength detected by the radio frequency receiver.

10 . The computerized method according to claim 9 , additionally comprising the step of displaying an estimated trajectory of the at least one mobile device.

11 . The computerized method according to claim 9 , additionally comprising the step of generating a signal strength map by projecting the values of signal strength detected by the radio frequency receiver on positions of the estimated trajectory.

12 . The computerized method according to claim 11 , wherein the values of signal strength include 4G LTE reference signal received power.

13 . The computerized method according to claim 9 , comprising detecting, through a plurality of radio frequency receivers of the at least one mobile device, values of radio frequency signal strength of different modalities as the mobile device is moved within the environment; and
estimating, by the localization module executing on the processor, the trajectory of the mobile device within the environment based on the values of signal strength of different modalities.

14 . The computerized method according to claim 9 , additionally comprising detecting, by the mobile device, at least one absolute landmark positions through at least one of a global positioning system, a near field communication chip and a camera adapted to read two-dimensional barcodes; and
estimating, by the localization module executing on the processor, the trajectory of the mobile device within the environment based on that at least one absolute landmark position.

15 . The computerized method according to claim 9 , additionally comprising the step of tracking a second mobile device within the environment based on the trajectory estimate of the first mobile device.

16 . The computerized method according to claim 9 , wherein the localization module resides on the at least one mobile device; and
wherein the at least one mobile electronic device is positioned in a pocket of an article of clothing for an entirety of the computerized method without needing to be held in a fixed position or orientation.

17 . A non-transitory, tangible computer-readable medium storing instructions adapted to be executed by at least one processor of a mobile device to perform a method comprising the steps of:
detecting, through an inertial sensor of the mobile device, inertial measurements as the mobile device is moved within an environment; detecting, through a radio frequency receiver of the mobile device, values of radio frequency signal strength as the mobile device is moved within the environment; and estimating, by a localization module executing on the at least one processor, a trajectory of the mobile device within the environment based at least on the inertial measurements from the inertial sensor and the values of signal strength detected by the radio frequency receiver.

18 . The non-transitory, tangible computer-readable medium of claim 17 , additionally storing instructions adapted to be executed by the at least one processor to perform the step of:
displaying an estimated trajectory of the mobile device.

19 . The non-transitory, tangible computer-readable medium of claim 17 , additionally storing instructions adapted to be executed by the at least one processor to perform the step of:
generating a signal strength map by projecting the values of signal strength detected by the radio frequency receiver on positions of the estimated trajectory.

20 . The non-transitory, tangible computer-readable medium of claim 19 , wherein the values of signal strength include 4G LTE reference signal received power.

21 . The non-transitory, tangible computer-readable medium of claim 17 , additionally storing instructions adapted to be executed by the at least one processor to perform the steps of:
detecting, through a plurality of radio frequency receivers of the at least one mobile device, values of radio frequency signal strength of different modalities as the mobile device is moved within the environment; and estimating, by the localization module executing on the processor, the trajectory of the mobile device within the environment based on the values of signal strength of different modalities.

22 . The non-transitory, tangible computer-readable medium of claim 17 , additionally storing instructions adapted to be executed by the at least one processor to perform the steps of:
detecting, by the mobile device, at least one absolute landmark positions through at least one of a global positioning system, a

Assignees

• Alcatel Lucent Usa Inc

Inventors

• Mirowski Piotr W
• Ho Tin K
• Macdonald William M

Classifications

• H04W4/80

  Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication · CPC title

• H04W4/027 Primary

  using movement velocity, acceleration information · CPC title

• G01C21/206 Primary

  specially adapted for indoor navigation · CPC title

• H04W4/029

  Location-based management or tracking services · CPC title

• G01C21/1656

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