Method, system and apparatus for mobile locationing

1 . A computing device, comprising:

a tracking assembly including a camera;

a data capture module; and

a controller connected with the tracking assembly and the data capture module, the controller configured to:

control the tracking assembly to track successive poses of the computing device in a first frame of reference within a facility;

control the data capture module to capture and decode an indicium placed in the facility;

obtain, based on the indicium, a position of a point of a marker, disposed in the facility, in a second frame of reference corresponding to the facility;

detect, via a field of view of the camera, simultaneously with capturing and decoding the indicium via a field of view of the data capture module, features of a marker placed in the facility;

determine, based on the detected features of the marker, an orientation of the marker in the second frame of reference; and

generate, for each pose in the first frame of reference, a corresponding pose in the second frame of reference according to the position of the point and the orientation of the marker.

2 . The computing device of claim 1 , wherein the controller is further configured to:

generate a transform between the first frame of reference and the second frame of reference based on the position of the point and the orientation;

generate the corresponding pose in the second frame of reference according to the transform; and

publish the corresponding pose in the second frame of reference.

3 . The computing device of claim 2 , wherein the controller is further configured, in order to publish the corresponding pose, to transmit the corresponding pose to a server.

4 . The computing device of claim 1 , wherein the processor is further configured, prior to tracking the successive poses, to establish the first frame of reference.

5 . The computing device of claim 1 , further comprising an input assembly; wherein the processor is configured to control the data capture module to capture and decode the indicium in response to an activation of the input assembly.

6 . The computing device of claim 5 , further comprising a memory storing a reference image of the marker; wherein the processor is further configured, in order to detect the features of the marker, to compare an image captured using the camera with the reference image.

7 . The computing device of claim 1 , wherein the point in the facility is one of the features of the marker.

8 . The computing device of claim 1 , wherein the processor is further configured to obtain, based on the indicium, the orientation in the second frame of reference.

9 . The computing device of claim 1 , wherein the processor is further configured, responsive to capturing the indicium, to:

obtain an identifier from the indicium;

transmit a request to a server containing the identifier; and

receive, from the server, the position in the second frame of reference.

10 . A method, comprising:

controlling a tracking assembly of the computing device to track successive poses of the computing device in a first frame of reference in a facility;

controlling a data capture module of the computing device to capture and decode an indicium placed in a facility;

obtaining, based on the indicium, a position of a point of a marker, disposed in the facility, in a second frame of reference corresponding to the facility;

detecting, via field of view of a camera of the computing device, simultaneously with capturing and decoding the indicium via a field of view of the data capture module, features of a marker placed in the facility;

determining, based on the detected features of the marker, an orientation of the marker in the second frame of reference; and

generating, for each pose in the first frame of reference, a corresponding pose in the second frame of reference according to the position of the point and the orientation of the marker.

11 . The method of claim 10 , further comprising:

generating a transform between the first frame of reference and the second frame of reference based on the position of the point and the orientation;

generating the corresponding pose in the second frame of reference according to the transform; and

publishing the corresponding pose in the second frame of reference.

12 . The method of claim 11 , wherein publishing the corresponding pose includes transmitting the corresponding pose to a server.

13 . The method of claim 10 , further comprising, prior to tracking the successive poses, establishing the first frame of reference.

14 . The method of claim 10 , further comprising detecting activation of an input assembly, and controlling the data capture module to capture and decode the indicium in response to detecting the activation.

15 . The method of claim 14 , further comprising:

storing a reference image of the marker;

wherein detecting the features of the marker comprises comparing an image captured using the camera with the reference image.

16 . The method of claim 10 , wherein the point in the facility is one of the features of the marker.

17 . The method of claim 10 , further comprising obtaining, based on the indicium, the orientation in the second frame of reference.

18 . The method of claim 10 , further comprising, responsive to capturing the indicium:

obtaining an identifier from the indicium;

transmitting a request to a server containing the identifier; and

receiving, from the server, the position in the second frame of reference.