Collaborative creation of indoor maps
This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.
1. A computer-implemented method for generating a building map, the method comprising:
receiving sensor data from each tracked device among a plurality of tracked devices, the sensor data comprising location data and inertial sensor data;
generating motion data based on the sensor data, the motion data indicative of a path taken by a user associated with the tracked device;
inferring at least one motion from the motion data;
inferring one or more building features, including a location and a location error bound of each inferred building feature, wherein the inferred building features are based on: the location data, the at least one motion, and associated descriptive information;
generating a graphical feature map indicative of user movement by spatially and temporally linking inferred building features based on a time of discovery, the inferred location, and the location error bound of each inferred building feature;
merging the graphical feature maps from each tracked device to generate a building map comprising building features merged from one or more inferred building features; and
determining a location of each building feature based on a weighted average of the inferred locations and the location error bounds of the one or more associated inferred building features.
2. The method of claim 1 , wherein the sensor data further comprises magnetic sensor data, acoustic sensor data, or radiofrequency information.
3. The method of claim 1 , wherein the location data is obtained through global initialization.
4. The method of claim 1 , wherein the associated descriptive information includes one or more of a feature type, a feature extent, a connecting path segment length, a user location error bound, information from an existing building map, and sensor data associated with the inferred building feature.
5. The method of claim 4 , wherein the associated descriptive information further includes one or more of magnetic sensor data, acoustic sensor data, and radiofrequency sensor readings collected with the motion data.
6. The method of claim 4 , wherein associated descriptive information includes an inferred building feature type, wherein the inferred building feature type includes one or more of a hallway, a room, a stairwell, an elevator, a doorway, an exit, an overpass, and a tunnel, and wherein the feature extent includes one or more of a number of floors and a dimension of one or more of the hallway, the room, the stairwell, the elevator, the doorway, the exit, the overpass and the tunnel.
7. The method of claim 1 , wherein merging the graphical feature maps further comprises:
merging two or more inferred building features based on their inferred locations, the location error bound, or a time of discovery for each building feature.
8. The method of claim 1 , further comprising:
revisiting an inferred building feature to determine any changes in the location of the inferred building feature or the associated descriptive information based on one or more of new sensor data, a subsequently inferred building feature, and an occupancy number, wherein the occupancy number is indicative of a number of times the inferred building feature has been revisited.
9. The method of claim 8 , wherein revisiting the inferred building feature occurs after a period of time.
10. The method of claim 8 , further comprising:
updating one or more of the inferred building feature's location, associated descriptive information, and the occupancy number based on revisiting the inferred building feature; and
updating the building map with the updated inferred building features.
11. The method of claim 8 , further comprising:
deleting the inferred building feature from the graphical feature map based on revisiting the inferred building feature to update the graphical feature map; and
updating the building map based on the updated graphical feature map.
12. A computing system for generating a building map, the computing system comprising:
a processor;
a memory communicatively coupled to the processor, the memory bearing instructions that, when executed on the processor, cause the computing system to at least:
receive sensor data from each tracked device among a plurality of tracked devices, the sensor data comprising location data and inertial sensor data;
generate motion data based on the sensor data, the motion data indicative of a path taken by a user associated with the tracked device;
infer at least one motion from the motion data;
infer one or more building features, including a location and a location error bound of each building feature, wherein the inferred building features are based on: the location data, the at least one motion, and associated descriptive information;
generate a graphical feature map indicative of user movement by spatially and temporally linking inferred building features based on a time of discovery, the inferred location and location error bound of each inferred building feature;
merge the graphical feature maps from each tracked device to generate a building map comprising building features merged from one or more inferred building features; and
determine a location of each building feature based on a weighted average of the inferred locations and the location error bounds of the one or more associated inferred building features.
13. The system of claim 12 , wherein the sensor data further comprises magnetic sensor data, acoustic sensor data, or radiofrequency information.
14. The system of claim 12 , wherein the associated descriptive information includes one or more of a feature type, a feature extent, a connecting path segment length, a user location error bound, information from an existing building map, and sensor data associated with the inferred building feature.
15. The system of claim 14 , wherein the associated descriptive information further includes one or more of magnetic sensor data, acoustic sensor data, and radiofrequency sensor readings collected with the motion data.
16. The system of claim 12 , wherein the instructions, when executed on the computing system, further cause the computing system to at least:
revisit an inferred building feature to determine any changes in the location of the inferred building feature or the associated descriptive information based on one or more of new sensor data, a subsequently inferred building feature, and an occupancy number, wherein the occupancy number is indicative of a number of times the inferred building feature has been revisited.
17. The system of claim 16 , wherein the instructions that revisit an inferred building feature, when executed on the computing system, further cause the computing system to at least:
update one or more of the inferred building feature's location, associated descriptive information, and occupancy number based on revisiting the inferred building features; and
update the building map with the updated inferred building feature.
18. A computer readable storage medium comprising instructions that, when executed on a computing system configured generate a building map, cause the computing system to at least:
receive sensor data from each tracked device among a plurality of tracked devices, the sensor data comprising location data and inertial sensor data;
generate motion data based on the sensor data, the motion data indicative of a path taken by a user associated with the tracked device;
infer at least one motion from the motion data;
infer one or more building features, including a location and a location error bound of each inferred building feature, wherein the inferred building features are based on: the location data, the at least one motion, and associated descriptive information;
generate a graphical feature map indicative of user movement by spatially and temporally linking inferred building features based on a time of discovery, the inferred location and location error bound of each inferred building feature;
merge the graphical feature maps from each tracked device to generate a building map comprising building features merged from one or more inferred building features; and
determine a location of each building feature based on a weighted average of the inferred locations and the location error bounds of the one or more associated inferred building features.
19. The system of claim 18 , wherein the sensor data further comprises magnetic sensor data, acoustic sensor data, or radiofrequency information.
20. The system of claim 18 , wherein the associated descriptive information includes one or more of a feature type, a feature extent, a connecting path segment length, the location error bound, information from an existing building map, and sensor data associated with the inferred building feature.
21. The system of claim 20 , wherein the associated descriptive information further includes one or more of magnetic sensor data, acoustic sensor data, and radiofrequency sensor readings collected with the motion data.
22. The system of claim 18 , wherein the instructions, when executed on the computing system, further cause the computing system to at least:
revisit an inferred building feature to determine any changes in the location of the inferred building feature or the associated descriptive information based on one or more of new sensor data, a subsequently inferred building feature, and an occupancy number, wherein the occupancy number is indicative of a number of times the inferred building feature has been revisited.
23. The system of claim 22 , wherein the instructions that revisit an inferred building feature, when executed on the computing system, further cause the computing system to at least:
update one or more of the inferred building feature's location, associated descriptive information, and the occupancy number based on revisiting the inferred building feature; and
update the building map with the updated inferred building feature.