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    VALIDATING AND UPDATING BUILDING MODELS WITH PATH DATA
    31.
    发明申请
    VALIDATING AND UPDATING BUILDING MODELS WITH PATH DATA 审中-公开

    公开(公告)号：US20200372707A1

    公开(公告)日：2020-11-26

    申请号：US16989287

    申请日：2020-08-10

    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

    IPC: G06T17/05 ,  G06F30/13

    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.

    METHODS FOR GENERATING AND UPDATING BUILDING MODELS
    32.
    发明申请
    METHODS FOR GENERATING AND UPDATING BUILDING MODELS 审中-公开

    公开(公告)号：US20200372706A1

    公开(公告)日：2020-11-26

    申请号：US16989212

    申请日：2020-08-10

    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

    IPC: G06T17/05 ,  G06F30/13

    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.

    CROWD SOURCED MAPPING WITH ROBUST STRUCTURAL FEATURES
    33.
    发明申请
    CROWD SOURCED MAPPING WITH ROBUST STRUCTURAL FEATURES 审中-公开

    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.

    CROWD SOURCED MAPPING WITH ROBUST STRUCTURAL FEATURES
    35.
    发明申请
    CROWD SOURCED MAPPING WITH ROBUST STRUCTURAL FEATURES 有权
    CROWD采用强大的结构特征进行绘图

    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。

    Method to scale inertial location data using directional and/or scale confidence constraints
    37.
    发明授权
    Method to scale inertial location data using directional and/or scale confidence constraints 有权
    使用定向和/或缩放置信约束来缩放惯性位置数据的方法

    公开(公告)号：US08990014B2

    公开(公告)日：2015-03-24

    申请号：US14212529

    申请日：2014-03-14

    Applicant: TRX Systems, Inc.

    Inventor： Benjamin Funk ,  Dan Hakim ,  John Karvounis ,  Carole Teolis

    IPC: G01C21/16 ,  G01C21/08

    CPC classification number: G01C21/165 ,  G01C21/08

    Abstract: Methods, systems, and computer readable storage media are presented for directional scaling of inertial path data to satisfy ranging constraints. The presented techniques take into account scaling confidence information. In addition to bounding potential scale corrections based on the reliability of the inertial path and the magnetic heading confidence, the techniques bound potential scale parameters based on constraints and solve for directional scale parameters.

    Abstract translation: 呈现方法，系统和计算机可读存储介质用于方向缩放惯性路径数据以满足测距约束。 所提出的技术考虑到置信信息的扩展。 除了基于惯性路径的可靠性和磁标题置信度的边界潜在尺度校正之外，这些技术基于约束约束了潜在的尺度参数，并且解决了定向尺度参数。

    COLLABORATIVE CREATION OF INDOOR MAPS
    38.
    发明申请
    COLLABORATIVE CREATION OF INDOOR MAPS 有权
    室内合作创作

    公开(公告)号：US20140278060A1

    公开(公告)日：2014-09-18

    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.

    Abstract translation: 本公开提供了用于创建室内空间地图的技术。 在这些技术中，没有绘图或制图专业知识的个人或团队可以帮助创建建筑物，校园或城市的地图。 室内定位系统可以跟踪建筑物中贡献者的位置。 当他们穿过室内空间时，应用程序可以通过跟踪贡献者的位置来自动地创建基于运动传感器的数据的地图，并且基于跟踪的贡献者的运动来推断建筑特征，例如走廊，楼梯和电梯，因为它们 移动通过一个结构。 通过这些技术，建筑物映射过程可以大量来源于大量的贡献者，使室内映射过程更加高效，易于扩展。

    Fusion Of Sensor And Map Data Using A Contraint Based Optimization
    39.
    发明申请
    Fusion Of Sensor And Map Data Using A Contraint Based Optimization 有权
    使用基于对比的优化对传感器和地图数据进行融合

    公开(公告)号：US20130332065A1

    公开(公告)日：2013-12-12

    申请号：US13916479

    申请日：2013-06-12

    Applicant: TRX Systems, Inc.

    Inventor： Daniel Hakim ,  Christopher Giles ,  John Karvounis ,  Benjamin Funk ,  Jared Napora ,  Carole Teolis

    IPC: G01C21/12

    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 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.

    Abstract translation: 这里公开了使用基于约束的优化来融合传感器和地图数据的方法和系统。 在一个实施例中，计算机实现的方法可以包括获得跟踪对象的跟踪数据，跟踪数据包括来自航位推算传感器的数据; 获得跟踪对象的约束数据; 并使用基于跟踪数据和约束数据的凸优化方法获得导航解。 导航解决方案可以是路径，并且该方法还可以包括通过运动模型传播约束数据以产生继续约束路径随时间变化的误差界限。 约束数据的传播可能受到其他传感器数据和/或地图结构数据的限制。

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