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1. 发明授权

US08548738B1 Constructing paths based on a particle model 有权
标题翻译：基于粒子模型构建路径
公开(公告)号：US08548738B1
公开(公告)日：2013-10-01
申请号：US13179147
申请日：2011-07-08
申请人： Mohammed Waleed Kadous , Andrew Lookingbill , Sebastian Thrun , Scott Ettinger
发明人： Mohammed Waleed Kadous , Andrew Lookingbill , Sebastian Thrun , Scott Ettinger
IPC分类号： G01C21/30 , G01C21/32
CPC分类号： G01C21/206
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with one or more orientation devices to identify a location of a client device with respect to a map of an indoor space. This location may then be used to identify the path of the client device through the indoor space.
摘要翻译：本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。更具体地，方面涉及使用粒子滤波器结合一个或多个取向装置来识别客户端装置相对于室内空间的映射的位置。然后，该位置可以用于通过室内空间来识别客户端设备的路径。

2. 发明授权

US08583400B2 Indoor localization of mobile devices 有权
标题翻译：移动设备的室内本地化
公开(公告)号：US08583400B2
公开(公告)日：2013-11-12
申请号：US13107316
申请日：2011-05-13
申请人： Sebastian Thrun , Andrew Lookingbill , Mohammed Waleed Kadous
发明人： Sebastian Thrun , Andrew Lookingbill , Mohammed Waleed Kadous
IPC分类号： G01C19/00
CPC分类号： G01C21/206 , G01C21/16 , G01S19/49
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with a gyroscope and/or accelerometer to identify a current location of a client device with respect to a map. In one example, the map may be based upon a map including a series of walls representing locations where a user may not walk within a building. In another example, the map may be based upon a series of rails representing locations where a user may walk within a building.
摘要翻译：本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。更具体地，方面涉及使用与陀螺仪和/或加速度计结合的粒子滤波器来识别客户端设备相对于地图的当前位置。在一个示例中，地图可以基于包括表示用户不能在建筑物内行进的位置的一系列墙壁的地图。在另一示例中，地图可以基于代表用户可以在建筑物内行走的位置的一系列轨道。

3. 发明授权

US08386422B1 Using constructed paths to supplement map data 有权
标题翻译：使用构建的路径来补充地图数据
公开(公告)号：US08386422B1
公开(公告)日：2013-02-26
申请号：US13178941
申请日：2011-07-08
申请人： Mohammed Waleed Kadous , Andrew Lookingbill , Sebastian Thrun
发明人： Mohammed Waleed Kadous , Andrew Lookingbill , Sebastian Thrun
IPC分类号： G06F17/00 , H04W24/00
CPC分类号： G01C21/206
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with one or more orientation devices to identify a location of a client device with respect to a map of an indoor space. This location may then be used to identify the path of the client device through the indoor space. The paths of a plurality of different client devices through the same indoor space may be used to update the map based on common patterns or inconsistencies between the map and the paths of the plurality of client devices.
摘要翻译：本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。更具体地，方面涉及使用粒子滤波器结合一个或多个取向装置来识别客户端装置相对于室内空间的映射的位置。然后，该位置可以用于通过室内空间来识别客户端设备的路径。可以使用通过相同室内空间的多个不同客户端设备的路径来基于地图和多个客户端设备的路径之间的共同模式或不一致来更新地图。

4. 发明申请

US20120290254A1 INDOOR LOCALIZATION OF MOBILE DEVICES 有权
标题翻译：移动设备的室内定位
公开(公告)号：US20120290254A1
公开(公告)日：2012-11-15
申请号：US13107316
申请日：2011-05-13
申请人： Sebastian Thrun , Andrew Lookingbill , Mohammed Waleed Kadous
发明人： Sebastian Thrun , Andrew Lookingbill , Mohammed Waleed Kadous
IPC分类号： G06F15/00
CPC分类号： G01C21/206 , G01C21/16 , G01S19/49
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with a gyroscope and/or accelerometer to identify a current location of a client device with respect to a map. In one example, the map may be based upon a map including a series of walls representing locations where a user may not walk within a building. In another example, the map may be based upon a series of rails representing locations where a user may walk within a building.
摘要翻译：本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。更具体地，方面涉及使用与陀螺仪和/或加速度计结合的粒子滤波器来识别客户端设备相对于地图的当前位置。在一个示例中，地图可以基于包括表示用户不能在建筑物内行进的位置的一系列墙壁的地图。在另一示例中，地图可以基于代表用户可以在建筑物内行走的位置的一系列轨道。

5. 发明授权

US08538442B1 Indoor localization of mobile device using labels 有权
标题翻译：使用标签的移动设备的室内本地化
公开(公告)号：US08538442B1
公开(公告)日：2013-09-17
申请号：US13160716
申请日：2011-06-15
申请人： Scott Ettinger , Mohammed Waleed Kadous , Andrew Lookingbill
发明人： Scott Ettinger , Mohammed Waleed Kadous , Andrew Lookingbill
IPC分类号： H04W40/00
CPC分类号： H04W40/244 , G01S5/0278
摘要： To localize a mobile device in an indoor area, labels are positioned at locations throughout the indoor area and signal strength is recorded at the label positions from different wireless network access points that are available in the indoor area. As a user traverses the indoor area with the mobile device, individual label identifiers are entered into the mobile device and the strength of the wireless network signals is recorded at each label position. The sampled wireless network signal strength and the corresponding label identifiers and positions are recorded to generate a mapping that identifies wireless network signal strength at each of the different label positions in the indoor area. The mapping may then be accessed to identify the locations of other mobile device users that subsequently enter the indoor area based on the wireless network signal strength from the different access points detected by the other mobile devices.
摘要翻译：为了将移动设备本地化在室内区域中，标签位于室内区域的位置处，并且信号强度被记录在室内区域中可用的不同无线网络接入点的标签位置处。当用户通过移动设备遍历室内区域时，将各个标签标识符输入到移动设备中，并且在每个标签位置记录无线网络信号的强度。记录采样的无线网络信号强度和对应的标签标识符和位置，以产生识别室内区域中每个不同标签位置处的无线网络信号强度的映射。然后可以访问映射，以便基于来自其他移动设备检测到的不同接入点的无线网络信号强度来识别随后进入室内区域的其他移动设备用户的位置。

6. 发明授权

US08412183B1 Automatically constructing paths 有权
标题翻译：自动构建路径
公开(公告)号：US08412183B1
公开(公告)日：2013-04-02
申请号：US13108127
申请日：2011-05-16
申请人： Mohammed Waleed Kadous , Andrew Lookingbill , Scott Ettinger
发明人： Mohammed Waleed Kadous , Andrew Lookingbill , Scott Ettinger
IPC分类号： H04W24/00
CPC分类号： G01C21/206
摘要： Aspects of the present disclosure relate generally to generating reliable data for indoor navigation. More specifically, aspects relate to identifying a route for a person to follow in order to record data such wireless network access location or other beacon signal information and signal strengths for an indoor space. In one example, the pre-defined route may be generated based on a map of the indoor space, a set of predefined walking strategies, an average walking speed, a time limit, and an optimization goal. For example, if a person is able walk at some average speed for a set period of time, a route may be identified which provides a given density of data points (the optimization goal) within the indoor space. The collected data may then used to build a wireless network model of the indoor space for navigation.
摘要翻译：本公开的方面通常涉及生成用于室内导航的可靠数据。更具体地，方面涉及识别人们遵循的路由，以便记录诸如无线网络接入位置或其他信标信号信息和信号强度的室内空间的数据。在一个示例中，可以基于室内空间的映射，一组预定义的行走策略，平均步行速度，时间限制和优化目标来生成预定义的路线。例如，如果一个人能够以一定的平均速度行走一段时间，则可以识别在室内空间内提供给定密度的数据点（优化目标）的路线。然后收集的数据可用于构建用于导航的室内空间的无线网络模型。

7. 发明授权

US09291461B2 Location correction 有权
标题翻译：位置校正
公开(公告)号：US09291461B2
公开(公告)日：2016-03-22
申请号：US13417630
申请日：2012-03-12
申请人： Sebastian Thrun , Mohammed Waleed Kadous
发明人： Sebastian Thrun , Mohammed Waleed Kadous
IPC分类号： G01C21/34 , G01C21/00 , G01C21/20
CPC分类号： G01C21/206
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More particularly, the estimated location, and in some examples the estimated heading, of a client device may be displayed on a display of the client device. As the device is moved through the indoor space, its location and/or orientation may be estimated based on measurements from one or more orientation devices. Typically, as the client device moves through an indoor space, the location estimation may become less and less accurate. This may be addressed by allowing the user to correct the current location and/or heading. The correction may be logged by the client device and transmitted to a server for further processing.
摘要翻译：本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。更具体地，可以在客户端设备的显示器上显示客户端设备的估计位置，并且在一些示例中是估计的标题。当装置移动通过室内空间时，可以基于来自一个或多个定向装置的测量来估计其位置和/或取向。通常，当客户端设备移动通过室内空间时，位置估计可能变得越来越不准确。这可以通过允许用户校正当前位置和/或标题来解决。校正可以由客户端设备记录并发送到服务器进行进一步处理。

8. 发明申请

US20130238236A1 LOCATION CORRECTION 有权
标题翻译：位置校正
公开(公告)号：US20130238236A1
公开(公告)日：2013-09-12
申请号：US13417630
申请日：2012-03-12
申请人： Sebastian Thrun , Mohammed Waleed Kadous
发明人： Sebastian Thrun , Mohammed Waleed Kadous
IPC分类号： G01C21/34 , G01C21/00
CPC分类号： G01C21/206
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More particularly, the estimated location, and in some examples the estimated heading, of a client device may be displayed on a display of the client device. As the device is moved through the indoor space, its location and/or orientation may be estimated based on measurements from one or more orientation devices. Typically, as the client device moves through an indoor space, the location estimation may become less and less accurate. This may be addressed by allowing the user to correct the current location and/or heading. The correction may be logged by the client device and transmitted to a server for further processing.
摘要翻译：本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。更具体地，可以在客户端设备的显示器上显示客户端设备的估计位置，并且在一些示例中是估计的标题。当装置移动通过室内空间时，可以基于来自一个或多个定向装置的测量来估计其位置和/或取向。通常，当客户端设备移动通过室内空间时，位置估计可能变得越来越不准确。这可以通过允许用户校正当前位置和/或标题来解决。校正可以由客户端设备记录并发送到服务器进行进一步处理。

9. 发明授权

US08694240B1 Visualization of paths using GPS data 有权
标题翻译：使用GPS数据可视化路径
公开(公告)号：US08694240B1
公开(公告)日：2014-04-08
申请号：US12898670
申请日：2010-10-05
申请人： Andrew Lookingbill , Mohammed Waleed Kadous
发明人： Andrew Lookingbill , Mohammed Waleed Kadous
IPC分类号： G01C21/26
CPC分类号： G01C21/00 , G01C21/20 , G01C21/265 , G01C21/32 , G01C21/3492 , G08G1/0112 , G09B29/007 , G09B29/10
摘要： A map editing system for visually indicating the location of GPS devices on a map and identifying paths from the map. GPS data is received from a plurality of GPS devices. The data is filtered based parameters including the speed of the GPS devices. The filtered GPS data is displayed on a map using representations that visually indicate the location of the GPS devices that the data was received from. The representations can then be used for identifying and creating new paths on the map.
摘要翻译：地图编辑系统，用于在地图上可视地指示GPS设备的位置，并从地图识别路径。从多个GPS装置接收GPS数据。数据是基于滤波的参数，包括GPS设备的速度。经过滤波的GPS数据在地图上显示，该视觉表示视觉上指示GPS设备接收数据的位置。然后，表示可用于在地图上识别和创建新的路径。

10. 发明授权

US08504288B2 Quality control of mapping data 有权
标题翻译：映射数据的质量控制
公开(公告)号：US08504288B2
公开(公告)日：2013-08-06
申请号：US13105361
申请日：2011-05-11
申请人： Mohammed Waleed Kadous , Andrew Lookingbill
发明人： Mohammed Waleed Kadous , Andrew Lookingbill
IPC分类号： G01C21/12 , H04M11/04 , H04W24/00
CPC分类号： G01S1/72 , G01C21/206 , G01C21/32 , G09B29/10 , G09B29/106 , H04W4/043
摘要： Aspects of the disclosure relate to quality control of survey data used to generate and or supplement map information. A device may be walked through an indoor space in order to collect survey data (accelerometer, gyroscope, wireless network identifiers, etc.). The survey data is then transmitted to a server for further processing to identify the path (or the various locations) of the device in the indoor space. The path may be determined by referring to a map of the indoor location and a localization algorithm, for example, a particle filter or least squares optimizer. The path may be compared to other survey data and paths from the same indoor space as well as the map in order to provide an estimate of the quality of the localization produced for the survey data. Low quality survey data may be flagged for further review or used to make changes to the map.
摘要翻译：本公开的方面涉及用于生成和/或补充地图信息的勘测数据的质量控制。为了收集测量数据（加速度计，陀螺仪，无线网络标识符等），设备可以通过室内空间进行。然后将调查数据发送到服务器进行进一步处理以识别室内空间中设备的路径（或各种位置）。可以通过参考室内位置的映射和定位算法（例如，粒子滤波器或最小二乘法优化器）来确定路径。该路径可以与来自相同室内空间以及地图的其他测量数据和路径进行比较，以便提供对测量数据产生的定位质量的估计。低质量的调查数据可能被标记为进一步审查或用于对地图进行更改。

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