US 9,811,734 B2
Crowd-sourced creation and updating of area description file for mobile device localization
Brian Patrick Williams, Mountain View, CA (US); Ryan Michael Hickman, Sunnyvale, CA (US); Laurent Tu, Penshurst (AU); Esha Nerurkar, Sunnyvale, CA (US); and Simon Lynen, Zurich (CH)
Assigned to Google Inc., Mountain View, CA (US)
Filed by Google Inc., Mountain View, CA (US)
Filed on May 11, 2015, as Appl. No. 14/708,877.
Prior Publication US 2016/0335497 A1, Nov. 17, 2016
Int. Cl. G06K 9/00 (2006.01); G01C 21/20 (2006.01); G06F 17/30 (2006.01); G06T 7/73 (2017.01)
CPC G06K 9/00671 (2013.01) [G01C 21/206 (2013.01); G06F 17/30256 (2013.01); G06T 7/74 (2017.01); G06T 2207/10004 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, at a computing system, a set of one or more area description files from a set of one or more first mobile devices, each area description file representing a point cloud of spatial features detected by a corresponding first mobile device at an area;
generating, at the computing system, a localization area description file for the area from the set of one or more area description files, the localization area description file representing a point cloud of spatial features for the area; and
providing the localization area description file from the computing system to a second mobile device, wherein:
the set of one or more area description files comprises a plurality of area description files; and
generating the localization area description file comprises:
identifying the plurality of area description files as being associated with the area;
deduplicating the point clouds represented by the plurality of area description files;
determining a relative alignment of the point clouds represented by the plurality of area description files; and
incorporating the point clouds in the localization area description file.