Motion sensor assisted room shape reconstruction and self-localization using first-order acoustic echoes

Patent metadata

Field	Value
Publication number	US-2017370710-A1
Application number	US-201715631046-A
Country	US
Kind code	A1
Filing date	Jun 23, 2017
Priority date	Jun 24, 2016
Publication date	Dec 28, 2017
Grant date	—

Abstract

Simultaneous 2-D room shape reconstruction and self-localization is accomplished using no pre-established infrastructure. A mobile device with co-located microphone and loudspeaker is used to collect echoes reflected by the walls. The system uniquely recovers arbitrary 2-D convex room shape as well as the position of mobile device 10 by collecting and processing distances between three consecutive measurement points as well as acoustic echoes from the device. A practical algorithm for room shape reconstruction and self-localization in the presence of noise and higher order echoes is proposed. Experimental results are provided to demonstrate the effectiveness of the approach.

First claim

What is claimed is:

1 . A device for performing simultaneous localization and mapping in an enclosed space, comprising:
a loudspeaker capable of emitting a predetermined sound; a microphone co-located with the loudspeaker; a processor interconnected to the microphone; wherein the processor is programmed to receive a series of echoes of the predetermined sound when emitted by the loudspeaker from a corresponding series of non-collinear locations within the enclosed space and to determine shape of the enclosed space based on the series of echoes from the corresponding series of locations.

2 . The device of claim 1 , wherein the processor is programmed to determine the shape of the enclosed space by measuring the distance between each of the series of locations from a preceding one of the series of locations.

3 . The device of claim 2 , wherein the processor is programmed to determine the shape of the enclosed space by measuring the distance between each of the series of locations and all walls of the enclosed space.

4 . The device of claim 3 , wherein the processor is programmed to determine the shape of the enclosed space by identifying first order echoes from within the series of echoes received at each of the corresponding series of locations.

5 . The device of claim 4 , wherein the processor is programmed to determine shape of the enclosed space by reconstructing all possible shapes of the enclosed space and selecting the shape with the most number of edges.

6 . The device of claim 5 , wherein the processor is programmed to determine the location the series of non-collinear locations within the shape of the enclosed space.

7 . The device of claim 6 , wherein the predetermined sound comprises a chirp signal sweeping from a first frequency to a second frequency.

8 . The device of claim 7 , wherein the first frequency is 30 Hz and the second frequency is 8 kHz.

9 . A method of performing simultaneous localization and mapping in an enclosed space, comprising:
providing a loudspeaker capable of emitting a predetermined sound; emitting the predetermined sound from the loudspeaker from each of a series of locations within the enclosed space; receiving a corresponding series of echoes of the predetermined sound from each of the series of locations with a microphone co-located with the loudspeaker; using a processor interconnected to the microphone to determine shape of the enclosed space based on the series of echoes received from the corresponding series of locations.

10 . The method of claim 9 , wherein the processor is programmed to determine the shape of the enclosed space by measuring the distance between each of the series of locations from a preceding one of the series of locations.

11 . The method of claim 10 , wherein the processor is programmed to determine the shape of the enclosed space by measuring the distance between each of the series of locations and all walls of the enclosed space.

12 . The method of claim 11 , wherein the processor is programmed to determine the shape of the enclosed space by identifying first order echoes from within the series of echoes received at each of the corresponding series of locations.

13 . The method of claim 12 , wherein the processor is programmed to determine shape of the enclosed space by reconstructing all possible shapes of the enclosed space and selecting the shape with the most number of edges.

14 . The method of claim 13 , wherein the processor is programmed to determine the location the series of non-collinear locations within the shape of the enclosed space.

15 . The method of claim 14 , wherein the predetermined sound comprises a chirp signal sweeping from a first frequency to a second frequency.

16 . The method of claim 15 , wherein the first frequency is 30 Hz and the second frequency is 8 kHz.

Assignees

• Chen Biao
• Wang Tiexing
• Peng Fangrong
• Univ Syracuse

Inventors

• Chen Biao
• Wang Tiexing
• Peng Fangrong

Classifications

• G01B17/06

  for measuring contours or curvatures · CPC title

• G01S15/06

  Systems determining the position data of a target · CPC title

• G01B17/00 Primary

  Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations · CPC title

• G01S15/08

  Systems for measuring distance only (indirect measurement G01S15/46) · CPC title

• G01S15/89 Primary

  for mapping or imaging · CPC title