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    Validating and updating building models with path data
    1.
    发明授权
    Validating and updating building models with path data 有权

    公开(公告)号：US11443483B2

    公开(公告)日：2022-09-13

    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.

    Crowd sourced mapping with robust structural features
    2.
    发明授权
    Crowd sourced mapping with robust structural features 有权

    公开(公告)号：US11359921B2

    公开(公告)日：2022-06-14

    申请号：US16387491

    申请日：2019-04-17

    Applicant: TRX SYSTEMS, INC.

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

    IPC: G01C21/20 ,  G01C21/16 ,  G01C21/32 ,  G01S5/02 ,  G01C21/00 ,  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.

    Crowd sourced mapping with robust structural features
    3.
    发明授权
    Crowd sourced mapping with robust structural features 有权

    公开(公告)号：US11156464B2

    公开(公告)日：2021-10-26

    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 ,  G01S19/13 ,  G01C21/16 ,  G01C21/32

    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.

    MAPPING COMPLEX BUILDING MODELS
    4.
    发明申请
    MAPPING COMPLEX BUILDING MODELS 审中-公开

    公开(公告)号：US20190371054A1

    公开(公告)日：2019-12-05

    申请号：US16428519

    申请日：2019-05-31

    Applicant: TRX Systems, Inc.

    Inventor： Travis Young ,  Daniel Hakim ,  Daniel Franchy ,  Jared Napora ,  John Karvounis ,  Jon Fetter Degges ,  Tim Wang ,  Benjamin Funk ,  Carole Teolis ,  Carol Politi ,  Stuart Woodbury

    IPC: G06T17/05 ,  G06F17/50

    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.

    COLLABORATIVE CREATION OF INDOOR MAPS
    5.
    发明申请
    COLLABORATIVE CREATION OF INDOOR MAPS 审中-公开

    公开(公告)号：US20180321043A1

    公开(公告)日：2018-11-08

    申请号：US16022526

    申请日：2018-06-28

    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.

    HEADING CONSTRAINTS IN A PARTICLE FILTER
    7.
    发明申请
    HEADING CONSTRAINTS IN A PARTICLE FILTER 有权
    颗粒过滤器中的头部约束

    公开(公告)号：US20160195391A1

    公开(公告)日：2016-07-07

    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

    IPC: G01C17/38 ,  G01S19/42 ,  G01S5/02 ,  G01J1/42

    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.

    Abstract translation: 描述了一种用于计算由用户佩戴或携带的便携式设备的罗盘方向的校正的方法。 该方法包括基于罗盘读数来确定设备的标题，从一个或多个传感器收集数据，基于收集的数据确定设备是否在室内或室外，以及基于确定设备是否是 室内或室外

    SYSTEM AND METHOD FOR LOCALIZING A TRACKEE AT A LOCATION AND MAPPING THE LOCATION USING SIGNAL-BASED FEATURES
    8.
    发明申请
    SYSTEM AND METHOD FOR LOCALIZING A TRACKEE AT A LOCATION AND MAPPING THE LOCATION USING SIGNAL-BASED FEATURES 审中-公开
    用于使用位置定位轨道并使用基于信号的特征映射位置的系统和方法

    公开(公告)号：US20150285638A1

    公开(公告)日：2015-10-08

    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: G01C21/20 ,  G01S19/13

    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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