Systems and Methods for Performing a Multi-Step Process for Map Generation or Device Localizing

摘要

Examples describe systems and methods for performing a multi-step approach for map generation and device localizing using data collected by the device and observations of interdependencies between the data. An example method includes receiving logs of data collected by the device, determining a constraint for locations of the device according to a comparison of data in the logs of data with available known signal strength maps of corresponding data, and performing a first simultaneous localization and mapping (SLAM) optimization of location estimates of the device using the logs of data and the constraint as a first initialization. A second SLAM optimization is performed using outputs of the first SLAM optimization and relative estimates of the device based on dead reckoning as a second initialization. An output location estimate of the device is provided based on the second SLAM optimization.

主权项

1. A method comprising:
receiving logs of data, wherein respective data is collected by a device over a plurality of locations and over a time period; determining first location estimates of the device according to a comparison of data available in the logs of data with available known signal strength maps of corresponding data, wherein the first location estimates indicate a trajectory of the device over the time period; determining, by one or more processors, second location estimates of the device using the first location estimates and relative position estimates of the device based on dead reckoning, wherein the second location estimates indicate a refined trajectory of the device over the time period; and determining output location estimates of the device using the second location estimates, the relative position estimates based on dead reckoning, and the respective data, wherein the output location estimates indicate a further refined trajectory of the device over the time period.