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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
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.
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公开(公告)号：US10571270B2
公开(公告)日：2020-02-25
申请号：US15670881
申请日：2017-08-07
Applicant: TRX SYSTEMS, INC.
Inventor： Daniel Hakim , Christopher Giles , John Karvounis , Benjamin Funk , Jared Napora , Carole Teolis
Abstract: Disclosed herein are methods and systems for fusion of sensor and map data using constraint based optimization. In an embodiment, a computer-implemented method may include obtaining tracking data for a tracked subject, the tracking data including data from a dead reckoning sensor; obtaining constraint data for the tracked subject; and using a convex optimization method based on the tracking data and the constraint data to obtain a navigation solution. The navigation solution may be a path and the method may further include propagating the constraint data by a motion model to produce error bounds that continue to constrain the path over time. The propagation of the constraint data may be limited by other sensor data and/or map structural data.
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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.
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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.
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公开(公告)号：US09759561B2
公开(公告)日：2017-09-12
申请号：US14714216
申请日：2015-05-15
Applicant: TRX Systems, Inc.
Inventor： Travis Young , John Miller , John Karvounis , Dan Hakim , Jared Napora , Benjamin Funk , Carole Teolis
CPC classification number: G01C17/38 , G01S5/0247 , G01S5/0252 , G01S5/0278 , G01S19/42
Abstract: A method for computing a correction to a compass heading for a portable device worn or carried by a user is described. The method involves determining a heading for the device based on a compass reading, collecting data from one or more sensors, determining if the device is indoors or outdoors based on the collected data, and correcting the heading based on the determination of whether the device is indoors or outdoors.
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Patent Agency Ranking
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.
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公开(公告)号：US09441973B2
公开(公告)日：2016-09-13
申请号：US13916487
申请日：2013-06-12
Applicant: TRX Systems, Inc.
Inventor： Amrit Bandyopadhyay , Brian Beisel , John Karvounis , Benjamin Funk , Carole Teolis , Christopher Giles
CPC classification number: G01C21/12 , G01C21/165 , G01C21/206 , G01S5/0205 , G01S5/0263 , G01S5/0268 , H04W64/00
Abstract: Disclosed herein are methods and systems for mapping irregular features. In an embodiment, a computer-implemented method may include obtaining tracking data that has dead reckoning tracking data for a tracked subject along a path and performing shape correction on the tracking data to provide a first estimate of the path.
Abstract translation: 这里公开了用于映射不规则特征的方法和系统。 在一个实施例中，计算机实现的方法可以包括获得跟踪数据，所述跟踪数据具有沿着路径的跟踪对象的航位推算跟踪数据，并对跟踪数据执行形状校正以提供路径的第一估计。
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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.
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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
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。
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公开(公告)号：US20230245388A1
公开(公告)日：2023-08-03
申请号：US17880530
申请日：2022-08-03
Applicant: TRX Systems, Inc.
Inventor： Travis Young , Daniel Hakim , Daniel Franchy , Jared Napora , John Karvounis , Jonathan Fetter Degges , Tim Wang , Benjamin Funk , Carole Teolis , Carol Politi , Stuart Woodbury
CPC classification number: G06T17/05 , G06F30/13 , G01C21/3867
Abstract: Systems, methods and instructions for creating building models of physical structures is disclosed. The building model may be a collection of floors defined by outlines containing regions that may be offset relative to a main region, and a collection of connectors. Connectors may have connection points for tracking, routing and sizing. Connectors may indicate elevation changes through georeferenced structural features. Signal elements may also be features that provide corrections when tracking. Feature descriptors are data that describes the structural configuration and signal elements enabling them to be matched to previously collected data in a database. User interface elements assist a user of a tracking device in collecting floor information, structural features and signal features and validating certain collected information based on previously known information. The height of floors may also be inferred based on sensor data from the tracking device.
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