Image assistance for indoor positioning

摘要

A method for tracking collector devices in an indoor area associated with imaging devices and RF signal sources covering the area includes generating aspects of a plurality of coarse position tracks of the collector devices based on RF signal measurements obtained by the collector devices from the RF signal sources. Imaging devices capture image frames of the collector devices in the indoor area which are then processed in order to determine aspects of a plurality of fine position tracks of the collector devices. The server and the collector device communicate with each other and match aspects of at least one of the fine position tracks to the aspects of the coarse position track of the communicating collector device in order to determine the precise location of the collector device in the indoor area.

主权项

1. A method for determining a fine position of a collector device associated with a server and a plurality of imaging devices coupled to the server, the method comprising the collector device:
collecting multiple sets of sensor measurements from at least one sensor associated with the collector device to determine a coarse position track of the collector device; identifying at least turns of the coarse position track; time-stamping and storing data representing each identified turn in the coarse position track; receiving from the server data representing at least respective time-stamped turns of a plurality of fine position tracks associated with moving objects in images obtained by the plurality of imaging devices; determining a matching fine position track for the collector device among the plurality of fine position tracks that are associated with the moving objects in the images obtained by the plurality of imaging devices by comparing at least the stored data representing the time-stamped turns of the coarse position track to the received data representing the time stamped turns of the plurality of fine position tracks until the matching fine position track is identified; and determining a position of the collector device from the matching fine position track.