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公开(公告)号：US10794986B2
公开(公告)日：2020-10-06
申请号：US15710515
申请日：2017-09-20
Applicant: Apple Inc.
Inventor： Jahshan Bhatti , David Benjamin Millman , Brian Stephen Smith , Jasvinder Singh
Abstract: A method comprising: receiving a radio map of an indoor venue using survey data collected by a survey device positioned throughout the venue, the radio map including a boundary; receiving harvest data from a mobile device, wherein at least some of the harvest data are obtained by the mobile device while the mobile device is positioned at locations that are outside of the boundary; determining, based on the harvest data, a trajectory of the mobile device, wherein at least some of the trajectory resides outside of the boundary; identifying one or more locations on or proximate to the trajectory; and extending the radio map using the survey data and the one or more identified locations, wherein the extended radio map is defined at least in part by an extension of the boundary to encompass the one or more identified locations.
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公开(公告)号：US11582576B2
公开(公告)日：2023-02-14
申请号：US16147484
申请日：2018-09-28
Applicant: Apple Inc.
Inventor： Jahshan Bhatti , Brian Stephen Smith , Wei Kong
Abstract: Embodiments are disclosed for a feature-based simultaneous localization and mapping (SLAM) system and method that generates radio maps for environments that are not accessible for surveying. More accurate radio maps are generated for an unsurveyed environment by determining a best estimate of a mobile device state from harvested traced data that maximizes a posterior probability of the mobile device state given measurements, landmarks and loop constraints.
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公开(公告)号：US20180348333A1
公开(公告)日：2018-12-06
申请号：US15710515
申请日：2017-09-20
Applicant: Apple Inc.
Inventor： Jahshan Bhatti , David Benjamin Millman , Brian Stephen Smith , Jasvinder Singh
Abstract: A method comprising: receiving a radio map of an indoor venue using survey data collected by a survey device positioned throughout the venue, the radio map including a boundary; receiving harvest data from a mobile device, wherein at least some of the harvest data are obtained by the mobile device while the mobile device is positioned at locations that are outside of the boundary; determining, based on the harvest data, a trajectory of the mobile device, wherein at least some of the trajectory resides outside of the boundary; identifying one or more locations on or proximate to the trajectory; and extending the radio map using the survey data and the one or more identified locations, wherein the extended radio map is defined at least in part by an extension of the boundary to encompass the one or more identified locations.
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