US 12,298,422 B2
Systems and methods for localizing devices using network signatures and coverage maps measured by robots
David Ross, San Diego, CA (US); and Botond Szatmary, San Diego, CA (US)
Assigned to Brrain Corporation, San Diego, CA (US)
Filed by Brain Corporation, San Diego, CA (US)
Filed on Feb. 3, 2022, as Appl. No. 17/592,127.
Application 17/592,127 is a continuation of application No. PCT/US2020/045352, filed on Aug. 7, 2020.
Claims priority of provisional application 62/883,686, filed on Aug. 7, 2019.
Prior Publication US 2022/0155407 A1, May 19, 2022
Int. Cl. G01S 5/02 (2010.01); G01S 5/00 (2006.01); G05D 1/00 (2024.01)
CPC G01S 5/0294 (2013.01) [G01S 5/0054 (2013.01); G05D 1/0219 (2013.01); G05D 1/0221 (2013.01); G05D 1/0285 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A system for localizing devices, comprising:
a non-transitory computer readable storage medium comprising a plurality of computer readable instructions stored thereon; and
at least one processor configured to execute the plurality of computer readable instructions to,
receive a coverage map of an environment, the coverage map being generated based on data from sensor units of a robot, the sensor units include at least localization and navigation units, the sensor units are configured to detect objects and measure network signatures, the coverage map being a digital representation of the environment, the coverage map is discretized into a plurality of regions, each region comprising an associated network signature,
receive from a device a network signature associated with the device,
determine a region of the coverage map comprising a network signature that matches the associated network signature received from the device,
localize the device to the determined region within the environment based on the coverage map,
transmit a signal to the device upon localization of the device, the signal is based on at least one of a position of the device within the environment and the trajectory of the device, the signal comprising at least one of: (i) information related to either an object or a feature proximate, based on the coverage map, to the determined region within the environment, and (ii) directions to another location in the environment, and
determine a trajectory of the device based on a spatial and temporal difference between the first and second regions and the first and second times.