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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
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.
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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
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。
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公开(公告)号：US09297658B2
公开(公告)日：2016-03-29
申请号：US13916390
申请日：2013-06-12
Applicant: TRX Systems, Inc.
Inventor： Amrit Bandyopadhyay , Daniel Hakim , Carole Teolis
CPC classification number: G01C21/12 , G01C21/165 , G01C21/206 , G01S5/0205 , G01S5/0263 , G01S5/0268 , H04W64/00
Abstract: Disclosed herein is the use of Wi-Fi based location estimates of a mobile device to provide global offset corrections (including automated initialization) and enhanced navigation accuracy through delivery of heading corrections. In an embodiment, dead reckoning tracking data may be received for a tracked subject. The tracking data includes a plurality of tracking points forming a tracking path of the tracked subject. A Wi-Fi position system location estimate is also obtained. The Wi-Fi position system location estimate is one of a plurality of Wi-Fi position system location estimates correlated to the dead reckoning tracking data. And a tracking related parameter is determined based on the correlation of the dead reckoning tracking data to the Wi-Fi position system location estimate.
Abstract translation: 这里公开的是使用基于Wi-Fi的移动设备的位置估计来提供全局偏移校正（包括自动初始化）和通过提供标题校正来增强导航精度。 在一个实施例中，可以为跟踪的对象接收航位推算跟踪数据。 跟踪数据包括形成跟踪对象的跟踪路径的多个跟踪点。 还获得Wi-Fi位置系统位置估计。 Wi-Fi位置系统位置估计是与航位推算跟踪数据相关联的多个Wi-Fi位置系统位置估计之一。 并且基于航位推算跟踪数据与Wi-Fi位置系统位置估计的相关性来确定跟踪相关参数。
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公开(公告)号：US20150354965A1
公开(公告)日：2015-12-10
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
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 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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55.发明申请SYSTEM AND METHOD FOR LOCALIZING A TRACKEE AT A LOCATION AND MAPPING THE LOCATION USING TRANSITIONS 有权用于在位置上定位轨迹并使用转换映射位置的系统和方法公开(公告)号：US20150285636A1
公开(公告)日：2015-10-08
申请号：US14262618
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: G01C21/00
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。
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Patent Agency Ranking
56.发明授权System and method for localizing a trackee at a location and mapping the location using transitions 有权用于在一个位置处本地化跟踪者的系统和方法，并使用转换映射位置公开(公告)号：US09146113B1
公开(公告)日：2015-09-29
申请号：US14262618
申请日：2014-04-25
Applicant: TRX Systems, Inc.
Inventor： Benjamin E. Funk , Jared Napora , Kamiar Kordari , Ruchika Verma , Amrit Bandyopadhyay , Carole Teolis
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。
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57.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
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。
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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。
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59.发明授权System and method for localizing a trackee at a location and mapping the location using inertial sensor information 有权用于在一个位置定位跟踪者并使用惯性传感器信息映射位置的系统和方法公开(公告)号：US08751151B2
公开(公告)日：2014-06-10
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
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。
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60.发明申请公开(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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