Patent ID: 9405972
Filing Date: 2016-08-02
CPC Classification: G01C,G01S,G06K,G06T,H04M,H04W

Claim Text:
1. A method on a user equipment (UE), the method comprising: capturing a plurality of images of an exterior of a structure when traversing a plurality of locations in a vicinity of the structure; capturing a plurality of measurement sets, wherein each measurement set corresponds to at least one image in the plurality of images and each measurement set comprises Inertial Measurement Unit (IMU) measurements and available wireless measurements with correction information for the available wireless measurements; estimating, based, in part, on the plurality of images and the corresponding plurality of measurement sets, a 3D structural envelope of the structure and a trajectory of the UE; transmitting information comprising the estimated trajectory of the UE, the 3D structural envelope, the plurality of images, and the corresponding measurement sets, to a first server wirelessly coupled to the UE; and receiving, based, in part, on the transmitted information, a corrected trajectory of the UE registered to absolute coordinates and a 3D structural envelope of the structure registered to the absolute coordinates.