Patent ID: 11868545
Assignee: TELEFONAKTIEBOLAGET LM ERICSSON (PUBL)
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 18:
19. A server comprising:
a network interface circuit configured to communicate with a first electronic device and a second electronic device;
a processor connected to the network interface circuit; and
a memory storing program code that is executed by the processor to perform operations comprising:
observing an acknowledgement communicated from the second electronic device indicating that the second electronic device has measured a position of the first electronic device;
receiving, from the first electronic device, the position of the first electronic device measured by the first electronic device;
receiving from a second electronic device a position of the first electronic device measured by the second electronic device;
determining whether an abort message has been received that indicates that the first electronic device has ceased to be stationary or have a constant velocity as sensed during a time interval between when a request was observed for the second electronic device to send the position and when the second electronic device communicated the acknowledgement indicating that the second electronic device had measured the position;
generating, only when no abort message was received before receipt of the acknowledgement communicated from the second electronic device, a transformation matrix for transforming a pose referenced in a first coordinate system to a pose referenced in a second coordinate system responsive to the position of the first electronic device sensed by and received from the first electronic device and the position of the first electronic device sensed by and received from the second electronic device, wherein one of the first and second coordinate systems is used to reference a pose of one of the first and second electronic devices and the other one of the first and second coordinate systems is used to reference a pose of the other one of the first and second electronic devices.