Patent ID: 8457829

Claim:
A system for determining characteristics of a physical environment with simple motion patterns, comprising: a heading module for receiving a plurality of raw orientation readings from a simple motion pattern comprising at least one of a predetermined motion pattern, a motion pattern selected from a group of patterns based on a physical environment from which the raw orientation readings are received, and a randomly selected motion pattern; a distribution module for determining a distribution of possible wall orientations upon each raw reading, wherein the distribution is initially a uniform distribution from −45 to +45 degrees and is sequentially determined upon each of the raw readings according to the equation: p (θ a /θ r −k+1 )∝ p (θ r /θ a )· p (θ a /θ r −k ) where p(θ r /θ a ) is the probability of reading θ r , given an actual angle θ a , and k is the k'th raw wall orientation reading; and a direction module for determining wall direction as the mean value of the distribution.