Patent ID: 9733091
Date: 2017-08-15
CPC Classifications: G01C

Claim:
1. A computer-implemented method for generating a building map of an indoor space, the method comprising: collecting sensor data, including inertial sensor data, via an electronic network from each computing device among a plurality of computing devices; using the sensor data to generate location data corresponding to an estimate of a location of each computing device; using the sensor data to generate motion data corresponding to motions of each computing device; using the location data and the motion data associated with each device to generate a three dimensional feature graph of building features associated with the indoor space comprising: creating a graphical map from each three dimensional feature graph, representing a temporal sequence of events, comprising: correcting one or more of the estimates of node location and error bounds to compensate for drift of the estimate of location for one or more of the computing devices to create a plurality of corrected graphical maps; and merging a plurality of the nodes of the corrected graphical maps to generate the building map, the merging being based at least on a node type and a node location.