Localization of a Device Using Multilateration

Patent metadata

Field	Value
Publication number	US-2016192154-A1
Application number	US-201414583382-A
Country	US
Kind code	A1
Filing date	Dec 26, 2014
Priority date	Dec 26, 2014
Publication date	Jun 30, 2016
Grant date	—

Abstract

Systems, apparatuses, and methods are provided for determining the geographic location of an end-user device using a multilateration calculation. The end-user device collects a depth map at a location in a path network. Two-dimensional feature geometries are extracted from the depth map, and a number of control points are identified in the extracted feature geometries. Distances are calculated between the end-user device and the identified control points. Location reference information is received for each identified control point from an external database. A geographic location of the end-user device in the path network is determined through a multilateration calculation using the location reference information of the identified control points and the calculated distances between the end-user device and each identified control point.

First claim

What is claimed is:

1 . A method comprising:
collecting, by an end-user device, a depth map at a location in a path network; extracting, using a processor of the end-user device, two-dimensional feature geometries from the depth map; identifying a number of control points in the extracted feature geometries; calculating distances between the end-user device and the identified control points; receiving location reference information for each identified control point from an external database; and determining a geographic location of the end-user device in the path network through a multilateration calculation using the location reference information of the identified control points and the calculated distances between the end-user device and each identified control point.

2 . The method of claim 1 , wherein the number of identified control points is at least three.

3 . The method of claim 1 , wherein the number of identified control points is at least two, and the determining of the geographic location comprises a combination of the multilateration algorithm and global positioning system (GPS) data of the location.

4 . The method of claim 1 , wherein the geographic location of the end-user device is determined within 1 meter of a ground truth location of the end-user device.

5 . The method of claim 1 , wherein the geographic location of the end-user device is determined within 10 centimeters of a ground truth location of the end-user device.

6 . The method of claim 1 , wherein the location reference information comprises latitude, longitude, elevation from the road level, and altitude values for each of the identified control points.

7 . The method of claim 1 , wherein the two-dimensional feature geometries comprise one or more of the following: lines, a set of connected lines or curves, arcs, or splines.

8 . The method of claim 1 , wherein the depth map is collected using a depth sensing device of the end-user device, the depth sensing device selected from the group consisting of: a LIDAR camera, a RADAR device, an ultrasound device, a structure light camera, and a moving mono-camera.

9 . The method of claim 8 , wherein the end-user device is a vehicle.

10 . The method of claim 1 , further comprising:
transmitting, prior to the receiving, the extracted feature geometries to the external database.

11 . A method comprising:
receiving, from an end-user device, extracted two-dimensional feature geometries of a depth map for a location in a path network; matching, using a processor, the extracted feature geometries with a number of feature geometries in a database for the path network; retrieving, from the database, location reference information for points of the matched feature geometries; and transmitting the location reference information to the end-user device.

12 . The method of claim 11 , wherein the location reference information comprises latitude, longitude, elevation from the road level, and altitude values for each of the points of the matched feature geometries.

13 . An apparatus comprising:
at least one processor; and at least one memory including computer program code for one or more programs; the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to at least perform: collect a depth map at a location in a path network; extract two-dimensional feature geometries from the depth map; identify a number of control points in the extracted feature geometries; calculate distances between an end-user device and the identified control points; receive location reference information for each identified control point from an external database; and determine a geographic location of the end-user device in the path network through a multilateration calculation using the location reference information of the identified control points and the calculated distances between the end-user device and each identified control point.

14 . The apparatus of claim 13 , wherein the number of identified control points is at least three.

15 . The apparatus of claim 13 , wherein the geographic location of the end-user device is determined within 1 meter of a ground truth location of the end-user device.

16 . The apparatus of claim 13 , wherein the geographic location of the data collection device is determined within 10 centimeters of a ground truth location of the end-user device.

17 . The apparatus of claim 13 , wherein the location reference information comprises latitude, longitude, elevation from the road level, and altitude values for each of the identified control points.

18 . The apparatus of claim 13 , wherein the two-dimensional feature geometries comprise one or more of the following: lines, a set of connected lines or curves, arcs, or splines.

19 . The apparatus of claim 13 , wherein the end-user device is a vehicle, and wherein the depth map is collected using a depth sensing device of the end-user device, the depth sensing device selected from the group consisting of: a LIDAR camera, a RADAR device, an ultrasound device, a structure light camera, and a moving mono-camera.

20 . The apparatus of claim 13 , wherein the at least one memory and the computer program code are configured to cause the apparatus to further perform:
transmit, prior to receiving the location reference information, the extracted feature geometries to the external database.

Assignees

• Here Global Bv

Inventors

• Modica Leo
• Stenneth Leon

Classifications

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• G01S19/46

  the supplementary measurement being of a radio-wave signal type · CPC title

• G01S17/46

  Indirect determination of position data · CPC title

• G01S15/89

  for mapping or imaging · CPC title

• G01S15/06

  Systems determining the position data of a target · CPC title