Patent ID: 9678509
Date: 2017-06-13
CPC Classifications: B25J,G05D,Y10S

Claim:
1. A mobile device tracking system for a mobile device in its physical environment comprising: a spatial sensor mounted on the mobile device and configured to scan the physical environment and generate spatial data indicating distances to boundaries and objects from a current position of the mobile device; a map generator mounted on the mobile device and configured to generate and update a map from the spatial data, the map including the current position of the mobile device; and a delocalization detector configured to generate a current estimate by estimating the current position within said map by generating position particles indicating at least one of position and orientation of the mobile device within its physical environment, the delocalization detector being further configured to generate and iteratively maintain a data set of said position particles to track a changing position of the mobile device within its physical environment, the delocalization detector including: i. a particle weight assignor that assigns a weight to each position particle, the particle weight being a relative measure of the likelihood that the position particle accurately represents the current position with respect to other particles; ii. an erroneous particle generator that introduces erroneous particles having weights that are uniformly low with respect to the weights of the position particles; and iii. a particle weight comparator that compares the weights of the erroneous particles and the weights of the position particles and determines that the mobile device has become delocalized when a substantial number of erroneous particles have weights that are no longer uniformly low with respect to the weights of the position particles.