US 12,000,945 B2
Visual and RF sensor fusion for multi-agent tracking
Karthikeyan Sundaresan, Manalapan, NJ (US); Ramanujan Sheshadri, Jersey City, NJ (US); and Mallesham Dasari, Stony Brook, NY (US)
Assigned to NEC Corporation, Tokyo (JP)
Filed by NEC Laboratories America, Inc., Princeton, NJ (US)
Filed on May 26, 2022, as Appl. No. 17/825,687.
Claims priority of provisional application 63/196,387, filed on Jun. 3, 2021.
Claims priority of provisional application 63/194,262, filed on May 28, 2021.
Prior Publication US 2022/0381870 A1, Dec. 1, 2022
Int. Cl. G01S 5/02 (2010.01); G01S 5/00 (2006.01)
CPC G01S 5/0264 (2020.05) [G01S 5/011 (2020.05)] 19 Claims
OG exemplary drawing
 
1. A computer-implemented method for determining a device position, comprising:
determining a first position estimate using radio-based range information;
determining a second position estimate using visual odometry information;
determining an impact of non-line-of-sight paths on the first position estimate;
fusing the first position estimate and the second position estimate based on radio environmental conditions and visual environmental conditions to determine a final position estimate; and
deploying resources based on the final position estimate.