公开(公告)号：US10852145B2

公开(公告)日：2020-12-01

申请号：US15987774

申请日：2018-05-23

Applicant: TRX SYSTEMS, INC.

Inventor： Travis Young ,  Kamiar Kordari ,  Benjamin Funk ,  Carole Teolis

IPC: G01C21/20 ,  G01C21/16 ,  G01C21/32 ,  G01S5/02 ,  G01S19/13

Abstract: A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building.

公开(公告)号：US10352707B2

公开(公告)日：2019-07-16

申请号：US15650747

申请日：2017-07-14

Applicant: TRX SYSTEMS, INC.

Inventor： Kamiar Kordari ,  Benjamin Funk ,  Carole Teolis ,  Jared Napora ,  John Karvounis ,  Dan Hakim ,  Christopher Giles ,  Carol Politi

IPC: G01C21/20

Abstract: This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.

公开(公告)号：US20170370728A1

公开(公告)日：2017-12-28

申请号：US15650747

申请日：2017-07-14

Applicant: TRX SYSTEMS, INC.

Inventor： Kamiar Kordari ,  Benjamin Funk ,  Carole Teolis ,  Jared Napora ,  John Karvounis ,  Dan Hakim ,  Christopher Giles ,  Carol Politi

IPC: G01C21/20

CPC classification number: G01C21/206

Abstract: This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.

公开(公告)号：US09733091B2

公开(公告)日：2017-08-15

申请号：US14178605

申请日：2014-02-12

Applicant: TRX Systems, Inc.

Inventor： Kamiar Kordari ,  Benjamin Funk ,  Carole Teolis ,  Jared Napora ,  John Karvounis ,  Dan Hakim ,  Christopher Giles ,  Carol Politi

IPC: G01C21/20

CPC classification number: G01C21/206

Abstract: This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.

公开(公告)号：US20130332064A1

公开(公告)日：2013-12-12

申请号：US13852649

申请日：2013-03-28

Applicant: TRX Systems, Inc.

Inventor： Benjamin E. Funk ,  Jared Napora ,  Kamiar Kordari ,  Ruchika Verma ,  Amrit Bandyopadhyay ,  Carole Teolis

IPC: G01C21/20

CPC classification number: G01C21/206 ,  G01C21/00 ,  G01C21/165 ,  G01S19/13 ,  G01S19/39

Abstract: A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.

Abstract translation: 提供了一种用于在同时定位和映射操作中识别位置校正的特征的系统和方法，从而促进更长的持续时间导航。 该系统可以检测来自磁性，惯性，GPS，光传感器和/或可以与位置相关联并在重新访问时识别的其它传感器的特征。 特征检测可以在通常便携式的跟踪系统上实现，这可以促进使用更高的采样率数据来更精确地定位特征，当网络通信不可用时改进的跟踪以及跟踪系统作为智能独立的改进的能力 定位系统为更高级别的导航算法/系统提供丰富的输入。 系统可以检测从结构化（例如室内，洞穴等）到非结构化（例如室外）环境和从行人运动到车辆行驶的过渡。 该系统可以包括集成的自我跟踪单元，其可以本地化和自校正这样的定位。

公开(公告)号：US20130311134A1

公开(公告)日：2013-11-21

申请号：US13827506

申请日：2013-03-14

Applicant: TRX SYSTEMS, INC.

Inventor： Kamiar Kordari ,  Benjamin Funk ,  Jared Napora ,  Ruchika Verma ,  Carole Teolis ,  Travis Young

IPC: G01C22/00

CPC classification number: G01C22/006 ,  G06F17/10

Abstract: A method for detecting a human's steps and estimating the horizontal translation direction and scaling of the resulting motion relative to an inertial sensor is described. When a pedestrian takes a sequence of steps the displacement can be decomposed into a sequence of rotations and translations over each step. A translation is the change in the location of pedestrian's center of mass and a rotation is the change along z-axis of the pedestrian's orientation. A translation can be described by a vector and a rotation by an angle.

公开(公告)号：US20130311133A1

公开(公告)日：2013-11-21

申请号：US13791443

申请日：2013-03-08

Applicant: TRX SYSTEMS, INC.

Inventor： Kamiar Kordari ,  Benjamin Funk ,  Jared Napora ,  Ruchika Verma ,  Carole Teolis ,  Travis Young

IPC: G01C22/00 ,  G06F17/10

CPC classification number: G01C22/006 ,  G01C21/10 ,  G01C22/00 ,  G01C25/005 ,  G01P15/00 ,  G06F17/10

Abstract: A method for detecting a human's steps and estimating the horizontal translation direction and scaling of the resulting motion relative to an inertial sensor is described. When a pedestrian takes a sequence of steps the displacement can be decomposed into a sequence of rotations and translations over each step. A translation is the change in the location of pedestrian's center of mass and a rotation is the change along z-axis of the pedestrian's orientation. A translation can be described by a vector and a rotation by an angle.

Abstract translation: 描述了一种用于检测人的步骤并估计相对于惯性传感器的所得运动的水平平移方向和缩放的方法。 当步行者采取一系列步骤时，可以通过每个步骤将位移分解成一系列旋转和翻译。 翻译是行人中心位置的变化，旋转是沿着行人方向的z轴的变化。 翻译可以通过向量和旋转来描述一个角度。

公开(公告)号：US20190025062A1

公开(公告)日：2019-01-24

申请号：US16128403

申请日：2018-09-11

Applicant: TRX Systems, Inc.

Inventor： Travis Young ,  Kamiar Kordari ,  Benjamin Funk ,  Carole Teolis

IPC: G01C21/20 ,  G01S5/02 ,  G01C21/32 ,  G01C21/16 ,  G01S19/13

Abstract: A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building, to indicate signal strength throughout different parts of the building mode, and to illustrate a path of each tracked device associated with signal strength and other annotations.

公开(公告)号：US09664521B2

公开(公告)日：2017-05-30

申请号：US14262627

申请日：2014-04-25

Applicant: TRX Systems, Inc.

Inventor： Benjamin E. Funk ,  Jared Napora ,  Kamiar Kordari ,  Ruchika Verma ,  Amrit Bandyopadhyay ,  Carole Teolis

IPC: G01C21/12 ,  G06T15/00 ,  G01C21/20 ,  G01C21/16 ,  G01C21/00 ,  G01S19/13 ,  G01S19/39

CPC classification number: G01C21/206 ,  G01C21/00 ,  G01C21/165 ,  G01S19/13 ,  G01S19/39

Abstract: A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.

公开(公告)号：US20160195400A1

公开(公告)日：2016-07-07

申请号：US14714212

申请日：2015-05-15

Applicant: TRX Systems, Inc.

Inventor： Travis Young ,  Kamiar Kordari ,  Benjamin Funk ,  Carole Teolis

IPC: G01C21/20 ,  G01C21/16

CPC classification number: G01C21/206 ,  G01C21/165 ,  G01C21/32 ,  G01S5/0252 ,  G01S19/13

Abstract: A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building.

Abstract translation: 描述了一个位置和地图服务，通过群众采集和数据融合技术创建了室内导航地图的全球数据库。 导航地图包括由跟踪的移动设备自动收集的多维传感器空间（例如，包括结构，RF，磁性，图像，声学或其他数据）中的地理参考的，独特描述的特征的数据库 移动通过建筑物（例如具有移动电话或机器人的人）。 当一个或多个跟踪设备穿过建筑物时，特征信息可用于创建建筑模型。