US 12,462,402 B2
Method, system and apparatus for mobile locationing
Sundaresan Sundaram, Bangalore (IN); Alan J. Epshteyn, Mount Sinai, NY (US); Anup Kulkarni, Gulbarga (IN); Shruti Kulkarni, Bangalore (IN); Meena Avasarala, Bangalore (IN); Kaushik Samudrala, Kurnool (IN); Induja Seshagiri Babu, Bangalore (IN); and Vaibhav Srinivasa, Bangalore (IN)
Assigned to Zebra Technologies Corporation, Lincolnshire, IL (US)
Filed by ZEBRA TECHNOLOGIES CORPORATION, Lincolnshire, IL (US)
Filed on Jan. 29, 2020, as Appl. No. 16/776,054.
Prior Publication US 2021/0233256 A1, Jul. 29, 2021
Int. Cl. G06T 7/246 (2017.01); G06K 7/10 (2006.01); G06K 7/14 (2006.01); G06T 7/73 (2017.01)
CPC G06T 7/248 (2017.01) [G06K 7/1417 (2013.01); G06T 7/74 (2017.01); G06K 2007/10524 (2013.01); G06T 2207/30204 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A computing device, comprising:
a tracking assembly including a camera;
a data capture module; and
a controller connected with the tracking assembly and the data capture module, the controller configured to:
control the tracking assembly to track successive poses of the computing device in a first frame of reference within a facility;
control the data capture module to capture and decode an indicium placed in the facility;
obtain, based on the indicium, a position of a point of a marker, disposed in the facility, in a second frame of reference corresponding to the facility;
detect, via a field of view of the camera, simultaneously with capturing and decoding the indicium via a field of view of the data capture module, features of a marker placed in the facility;
determine, based on the detected features of the marker, an orientation of the marker in the second frame of reference; and
generate, for each pose in the first frame of reference, a corresponding pose in the second frame of reference according to the position of the point and the orientation of the marker.