公开(公告)号：US20160209217A1

公开(公告)日：2016-07-21

申请号：US14940704

申请日：2015-11-13

Applicant: Worcester Polytechnic Institute

Inventor： Benzun Wisely Babu ,  David Cyganski ,  R. James Duckworth

IPC: G01C21/20 ,  G06T7/20 ,  G06T7/00 ,  G01C21/18

CPC classification number: G01C21/206 ,  G01C21/18 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G06T7/246 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30244

Abstract: An indoor localization system uses Visual Simultaneous Localization and Mapping (VSLAM) aided by gyroscope sensor information. Indoor environments pose several challenges which could cause a vision only system to fail due to tracking errors. Investigation revealed significant feature loss in a vision only system when traversing plain walls, windows and staircases. However, the addition of a gyroscope helps in handling such difficult conditions by providing additional rotational information. A portable system consisting of an Inertial Measurement Unit (IMU) and a stereo camera has been developed for indoor mapping. The images and gyroscope rates acquired by the system are stored and post-processed using Gyroscope Assisted Scalable Visual Simultaneous Localization and Mapping Algorithm.

Abstract translation: 室内定位系统使用由陀螺传感器信息辅助的视觉同步定位和映射（VSLAM）。 室内环境造成几个挑战，这可能导致视觉系统由于跟踪错误而失败。 调查显示，当穿过平原的墙壁，窗户和楼梯时，视觉系统中的显着特征损失。 然而，添加陀螺仪有助于通过提供额外的旋转信息来处理这样的困难条件。 已经开发了用于室内映射的由惯性测量单元（IMU）和立体摄像机组成的便携式系统。 使用陀螺仪辅助可扩展视觉同步定位和映射算法对系统采集的图像和陀螺仪速率进行存储和后处理。

公开(公告)号：US10061012B2

公开(公告)日：2018-08-28

申请号：US14701977

申请日：2015-05-01

Applicant: Worcester Polytechnic Institute

Inventor： Antti E. Koski ,  David Cyganski ,  R. James Duckworth

IPC: G01S5/06 ,  G01S5/02 ,  G01S5/22 ,  G01S1/02

CPC classification number: G01S5/0278 ,  G01S1/02 ,  G01S5/0252 ,  G01S5/06 ,  G01S5/22

Abstract: A ranging and tracking system and method employs a Coherent Array Reconciliation Tomography (CART) approach that benefits from a series of samples gathered from deployed receivers in an area of interest, and applies a sequence of matrix operations and transformations to data defining locations in a Cartesian grid space for summing constructive characteristics in a received waveform for identifying a leading edge indicative of a time of arrival (TOA) from a signal source, and computing a metric based on the distance to the signal source. Sampled waveform information (data) from multiple locations in the area of interest allows computation of a likelihood metric for each location in the grid space of containing the signal source. Rendering of the grid space location having the highest likelihood metric illustrates a position of the signal source, and may be graphically depicted clustering of the locations depicting a high likelihood.

公开(公告)号：US09846042B2

公开(公告)日：2017-12-19

申请号：US14940704

申请日：2015-11-13

Applicant: Worcester Polytechnic Institute

Inventor： Benzun Wisely Babu ,  David Cyganski ,  R. James Duckworth

IPC: G01C21/20 ,  G01C21/18 ,  G05D1/02 ,  G06T7/80 ,  G06T7/246

CPC classification number: G01C21/206 ,  G01C21/18 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G06T7/246 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30244

Abstract: An indoor localization system uses Visual Simultaneous Localization and Mapping (VSLAM) aided by gyroscope sensor information. Indoor environments pose several challenges which could cause a vision only system to fail due to tracking errors. Investigation revealed significant feature loss in a vision only system when traversing plain walls, windows and staircases. However, the addition of a gyroscope helps in handling such difficult conditions by providing additional rotational information. A portable system consisting of an Inertial Measurement Unit (IMU) and a stereo camera has been developed for indoor mapping. The images and gyroscope rates acquired by the system are stored and post-processed using Gyroscope Assisted Scalable Visual Simultaneous Localization and Mapping Algorithm.

公开(公告)号：US20170038455A1

公开(公告)日：2017-02-09

申请号：US14701977

申请日：2015-05-01

Applicant: Worcester Polytechnic Institute

Inventor： Antti E. Koski ,  David Cyganski ,  R. James Duckworth

IPC: G01S5/02 ,  G01S5/06

CPC classification number: G01S5/0278 ,  G01S1/02 ,  G01S5/0252 ,  G01S5/06 ,  G01S5/22

Abstract: A ranging and tracking system and method employs a Coherent Array Reconciliation Tomography (CART) approach that benefits from a series of samples gathered from deployed receivers in an area of interest, and applies a sequence of matrix operations and transformations to data defining locations in a Cartesian grid space for summing constructive characteristics in a received waveform for identifying a leading edge indicative of a time of arrival (TOA) from a signal source, and computing a metric based on the distance to the signal source. Sampled waveform information (data) from multiple locations in the area of interest allows computation of a likelihood metric for each location in the grid space of containing the signal source. Rendering of the grid space location having the highest likelihood metric illustrates a position of the signal source, and may be graphically depicted clustering of the locations depicting a high likelihood.

Abstract translation: 测距和跟踪系统和方法采用相干阵列对称层析成像（CART）方法，该方法受益于从感兴趣区域中部署的接收器收集的一系列样本，并将矩阵运算和变换序列应用于定义笛卡尔坐标 网格空间，用于对接收到的波形进行求和，以便从信号源识别表示到达时间（TOA）的前沿，以及基于到信号源的距离来计算度量。 来自感兴趣区域中的多个位置的采样波形信息（数据）允许计算包含信号源的网格空间中的每个位置的似然度量。 具有最高似然度量的网格空间位置的渲染示出了信号源的位置，并且可以图形地描绘描绘高可能性的位置的聚类。