Method and system for targeted calibration
A method and a device for performing targeted calibration are described. In an example, a first set of spatial data acquired within a predefined region in an indoor space is received. The indoor space is represented as a grid of tessellated polygonal tiles arranged in a hierarchical structure of size-wise arranged polygonal tiles. a preliminary discretized spatial map of the calibrated spatial data in the predefined region is generated by linking the first set of spatial data and the corresponding polygonal tiles for which the spatial data has been acquired. From the preliminary discretized spatial map, a group of polygonal tiles are identified which have density of calibrated spatial data less than a threshold density. For the identified polygonal tiles, a second set of spatial data may be acquired. Based on the preliminary discretized spatial map and the second set of spatial data, a fingerprint map is generated for the indoor space.
1. A method comprising:
receiving a first set of spatial data acquired within a predefined region in an indoor space by a calibration device, the indoor space divided into a grid of a plurality of polygonal tiles in a size-wise hierarchy and tessellated at each level of the size-wise hierarchy, wherein the first set of spatial data is acquired for each of the plurality of polygonal tiles in the predefined region;
generating a preliminary discretized spatial map of calibrated spatial data in the predefined region based on an association between the first set of spatial data and corresponding polygonal tile of acquisition of the first set of spatial data, wherein the generating comprises selecting a hierarchical level in the size-wise hierarchy to regulate a resolution of the preliminary discretized spatial map;
determining, from the preliminary discretized spatial map, a group of polygonal tiles having density of calibrated spatial data less than a threshold density; and
instructing the calibration device to acquire a second set of spatial data for the group of polygonal tiles; and
constructing a fingerprint map for the indoor space, based on the preliminary discretized spatial map and the second set of spatial data, for localizing devices in the indoor space, the fingerprint map indicative of a discretized distribution of the calibrated spatial data in the indoor space.
2. The method of claim 1 , wherein the instructing comprises generating a substantially continuous path to connect the group of polygonal tiles to gather remnant spatial data.
3. The method of claim 2 , wherein the substantially continuous path is an optimized route connecting the group of polygonal tiles.
4. The method of claim 1 , wherein the generating comprises associating a score with each polygonal tile indicative of environmental signals measured in the polygonal tile as part of spatial data, the density of calibrated spatial data determined based on the score.
5. The method of claim 1 , wherein the plurality of polygonal tiles have a symmetrical hexagon shape.
6. The method of claim 1 , wherein the plurality of polygonal tiles have one of a same asymmetrical polygon shape and different symmetrical polygon shapes.
7. The method of claim 1 , wherein a first set of polygonal tiles in one hierarchical level in the size-wise hierarchy are symmetrical and of a first shape and a second set of polygonal tiles in another hierarchical level in the size-wise hierarchy are symmetrical and of a second shape, wherein a plurality of second set of polygonal tiles substantially cover a single polygonal tile from the first set.
8. A computing device comprising:
a processor; and
a memory storing a set of instructions, the instructions executable in the processor to:
receive a first set of spatial data acquired within a predefined region in an indoor space by a calibration device, the indoor space divided into a grid of a plurality of polygonal tiles in a size-wise hierarchy and tessellated at each level of the size-wise hierarchy, wherein the first set of spatial data is acquired for each of the plurality of polygonal tiles in the predefined region;
generate a preliminary discretized spatial map of calibrated spatial data in the predefined region based on an association between the first set of spatial data and corresponding polygonal tile of acquisition of the first set of spatial data, wherein the generating comprises selecting a hierarchical level in the size-wise hierarchy to regulate a resolution of the preliminary discretized spatial map;
determine, from the preliminary discretized spatial map, a group of polygonal tiles having density of calibrated spatial data less than a threshold density; and
instruct the calibration device to acquire a second set of spatial data for the group of polygonal tiles; and
construct a fingerprint map for the indoor space, based on the preliminary discretized spatial map and the second set of spatial data, for localizing devices in the indoor space, the fingerprint map indicative of a discretized distribution of the calibrated spatial data in the indoor space.
9. The computing device of claim 8 further comprising instructions executable in the processor to generate a substantially continuous path to connect the group of polygonal tiles to gather the spatial data.
10. The computing device of claim 9 , wherein the substantially continuous path is an optimized route connecting the group of polygonal tiles.
11. The computing device of claim 8 further comprising instructions executable in the processor to associate a score with each polygonal tile indicative of environmental signals measured in the polygonal tile as part of spatial data, wherein the density of calibrated spatial data is determined based on the score.
12. The computing device of claim 8 , wherein the plurality of polygonal tiles have a symmetrical hexagon shape.
13. The computing device of claim 8 , wherein the plurality of polygonal tiles have one of a same asymmetrical polygon shape and different symmetrical polygon shapes.
14. The computing device of claim 8 , wherein a first set of polygonal tiles in one hierarchical level in the size-wise hierarchy are symmetrical and of a first shape and a second set of polygonal tiles in another hierarchical level in the size-wise hierarchy are symmetrical and of a second shape, wherein a plurality of second set of polygonal tiles substantially cover a single polygonal tile from the first set.