Patent ID: 9080886
Filing Date: 2015-07-14
Classification: F41H,G01C,G01S,G06T,G08B,H04W

Abstract:
1. A program storage device readable by a computer machine, tangibly embodying program instructions executable by the computer machine to perform method steps for a method for urban mapping and positioning, said method steps comprising: producing real-time, 3D mapping and localization for a user as the user moves throughout a GPS-denied environment; an Operator Control Unit (OCU) displays information collected 2D floorplans; 3D textured-enriched surfaces of a structure's interior; and the location of the users within that structure; providing an open architecture that allows the program storage device to function with any OCU; combining one or more subsystems, wherein the one or more subsystems comprise three distinct subsystems: obstacle maps for robot mobility, mapping, and positioning; creating a “spring” network among different updates by fusing information from multiple localization methods; determining a strength of each spring by a confidence value in the update; using the springs to “pull” one or more navigation solutions to a more accurate location based on the confidence value of the update.