Title:
複数のビーコンの位置を決定するための方法、プログラム及びコンピュータシステム
Document Type and Number:
Japanese Patent JP7225556
Kind Code:
B2
Abstract:
A system and method, which utilizes incremental smoothing and mapping (iSAM) algorithm and automatically builds a beacon location map using various sensor and environmental information. The aforesaid iSAM algorithm fuses received signal strength indicator (RSSI) values available from different beacons in the environment and the information provided by the IMU sensor. The aforesaid iSAM algorithm is capable of simultaneously generating beacon and landmark map and localize the mobile computing device in the environment without having any prior information about any beacon locations. To accommodate for noisy sensor data and achieve better convergence for the iSAM algorithm, the system uses a prior beacon location map, which contains location information of some of the BLE beacons located in the environment. These known beacon locations provide cleaner environmental information to the iSAM algorithm and hence improve the overall estimation of beacon locations, which were not available apriori.
Inventors:
mitashkumar patel
Mani Gafari Jadidi
Jacob Beer
Andreas Gargenson
Mani Gafari Jadidi
Jacob Beer
Andreas Gargenson
Application Number:
JP2018080078A
Publication Date:
February 21, 2023
Filing Date:
April 18, 2018
Export Citation:
Assignee:
Fuji Xerox Business Innovation Co., Ltd.
International Classes:
G01S5/02; G01S1/68
Domestic Patent References:
| JP2013515952A | ||||
| JP8105755A | ||||
| JP2016217931A | ||||
| JP2010127650A | ||||
| JP2008536348A | ||||
| JP2016033473A | ||||
| JP2007232444A |
Foreign References:
| WO2015192902A1 |
Other References:
Michael Kaess ほか,iSAM:Incremental Smoothing and Mapping,IEEE TRANSACTIONS ON ROBOTICS, MANUSCRIPT SEPTEMBER 7, 2008,米国,IEEE,2008年11月18日,Vol. 24, Issue 6,1365-1378,DOI: 10.1109/TRO.2008.2006706
坂口 豪一 ほか,障害物回避機能を有する自律移動ロボットのSLAMに関する研究,第56回 システム制御情報学会 研究発表講演会講演論文集,日本,システム制御情報学会,2012年05月21日,457-458
坂口 豪一 ほか,障害物回避機能を有する自律移動ロボットのSLAMに関する研究,第56回 システム制御情報学会 研究発表講演会講演論文集,日本,システム制御情報学会,2012年05月21日,457-458
Attorney, Agent or Firm:
Patent Attorney Corporation Taiyo International Patent Office