Here Global B.v.

Nokia Technologies Oy

Nokia Corporation

Provenance Asset Group LLC

Here Gloabl B.v.

Lauri Aarne Johannes Wirola

Pavel Ivanov

Henri Jaakko Julius Nurminen

Marko Luomi

Petri Rauhala

Jari Syrjarinne

Jari Tapani Syrjärinne

Muhammad Irshan Khan

Tommi Antero Laine

Matti Samuli Raitoharju

Niilo Torsten Sirola

Jerome Beaurepaire

Mikko Juhani Blomqvist

Laura Wirola

Tatiana Vyunova

Ismo Halivaara

Jukka Olavi Talvitie

Elena-Simona Lohan

Henri Nurminen

Jani Käppi

Eckhart Köppen

Jani Mikael Kappi

Mika Viitala

Jyrki Ilmari Aarnos

Eckhart Koppen

Matias Mikkola

Kalle Asikainen

Tiitus Hiltunen

Jouni Kämäräinen

Justin Eylander

Mike Koivisto

Jari Syrjärinne

Peter Kueth

Ivanov Pavel

Ismo Kullervo Halivaara

Mikkojuhani Blomqvist

Jari Tapani SYRJÄRINNE

A processor obtains an audio sample captured by an audio sensor associated with a device and/or image data captured by an image sensor associated with the device. The image data comprises a representation of one or more elevator buttons. The processor analyzes the audio sample to identify a floor name indicator in the audio sample and/or the image data to identify an activated elevator button from among the one or more elevator buttons represented by the image data; and determines a floor name based on the floor name indicator identified in the analyzed audio sample and/or a floor name indicator associated with the identified activated elevator button in accordance with the analyzed image data. The processor causes the determined floor name to be stored and/or provided for positioning purposes.

Determining floor name based on audio and/or visual samples

An approach is provided for creating a LiDAR path signature. The approach involves, for instance, receiving a plurality of Light Detection and Ranging (LiDAR) scans captured by a LiDAR sensor of a portable device as the portable device travels on a path through an environment. The approach also involves processing the plurality of LiDAR scans to generate a LiDAR path signature that is representative of the path of the portable device through the environment. The approach further involves providing the LiDAR path signature as an output.

Method, apparatus, and system for providing a LiDAR path signature

An apparatus obtains a respective identifier communication from a respective mobile apparatus and extracts a respective network interface identifier from the respective identifier communication. The apparatus updates or generates a repository of mobile apparatus identifiers based on the respective network interface identifier. The apparatus filters observation data comprising one or more network interface identifiers based on the repository of mobile apparatus identifiers and/or provides the repository of mobile apparatus identifiers for use in filtering the observation data comprising one or more network interface identifiers.

Generation and use of a repository of mobile apparatus identifiers

An apparatus is disclosed that includes: at least one antenna; and a carrier. The carrier includes the at least one antenna, and the at least one antenna is formed by printing the at least one antenna on or to the carrier. The carrier is attachable to an asset to be tracked. The apparatus is configured to enable determining of at least one position estimate indicative of a current position of the apparatus. The at least one position estimate is determined, at least in part, based on one or more signals observable by the at least one antenna. A method for producing the apparatus, and a use of the apparatus are also provided.

Printable tracking device

An apparatus obtains instances of crowd-sourced data corresponding to a first time period and determines a respective corroboration score based on map data a respective instance of crowd-sourced data. The apparatus determines a first representative corroboration score for the first time period based on respective corroboration scores determined for the instances of crowd-sourced data corresponding to the first time period; and compares the first representative corroboration score for the first time period to a second representative corroboration score corresponding to a second time period, wherein the first time period is different from the second time period. Based on a result of comparing the first and second representative corroboration scores, the apparatus determines whether the instances of crowd-sourced data are potentially manipulated. Responsive to determining that the instances of crowd-sourced data are potentially manipulated, the apparatus performs at least one mitigating action.

Mitigating effects of large-area GNSS spoofing and/or jamming on crowd-sourcing-based map updates

An approach for detecting LIDAR blind spots in parking garages. This approach may comprise receiving floor layout data of a parking garage and, based on the received floor layout data, determining at least one additional floor layout data for a floor of a parking garage. The determined floor layout data may include LIDAR blind spot data based on clusters of similarly laid out floors.

Systems and methods for detecting and mapping LIDAR blind spots in parking garages

An approach is provided for location sharing using a LiDAR-based location signature. The approach involves, for example, receiving a Light Detection and Ranging (LiDAR) scan of a location captured by a LiDAR sensor of a portable device. The approach also involves processing the LiDAR scan to generate a LiDAR location signature that is representative of the location of the portable device. The approach further involves transmitting the LiDAR location signature to another device to share the location of the portable device with the another device.

Method, apparatus, and system for location sharing using a LiDAR-based location signature

A network device stores a radio map comprising map data configured to enable radio-based positioning within a geographic area. The radio map is associated with a plurality of instances of quality information, with each instance of quality information corresponding to a respective location within the geographic area. The network device receives a quality information request corresponding to a geographic region within the geographic area. The quality information request is associated with an entity. Based on a determination of whether a contribution by the entity to a portion of the map data that corresponds to the geographic region satisfies one or more significance criteria, the network device either provides or withholds quality information corresponding to the geographic region.

Controlled access of radio map quality information

A computing device, method and computer program product are provided to generate fingerprint data having an obfuscated location reference, thereby maintaining the privacy of the location information provided by fingerprint data and represented by a radio map. For a computing device configured to generate fingerprint data having an obfuscated location reference, the computing device is caused to receive fingerprint data comprising a location reference and measurement(s) of one or more communications nodes. The computing device is caused to determine translation and/or rotation parameter(s) based on a respective identifier of at least one of the one or more communications nodes and to apply one or more of the parameters at least to the location reference, thereby generating an obfuscated location reference. The computing device is also caused to provide the fingerprint data including the obfuscated location reference to another computing device for generation or updating of a radio map.

Computing device and method for generating fingerprint data having an obfuscated location reference

A method, apparatus and computer program product are provided for improving localization of a device. In this regard, a coarse location of the device is determined and a neural network is utilized to determine one or more image-based vectors from the device to respective features in an image captured by an image capture device associated with the device. At one or more location points defined relative to the coarse location of the device, (a) one or more map-based vectors extending from a respective location point to respective features as defined by map data are compared to (b) the one or more image-based vectors. Based on the comparison, a refined location of the device is determined. A method, apparatus and computer program are also provided for training the neural network to determine an image-based vector from the device to a feature in an image captured by the device.

Neural network-based method and apparatus for improving localization of a device

A method, apparatus and computer program product are provided for improving localization of a device. In order to improve the localization, a coarse location of the device is determined and a feature is identified in an image captured by an image capture unit associated with the device. The feature is represented with one or more points or lines within an image plane and a projection is determined of the one or more points or lines from the image plane to a ground plane. At one or more location points defined relative to the coarse location of the device, map data is compared to the projection of the one or more points or lines representative of the feature identified in the image. Based on the comparison, a refined location of the device is determined.

Method and apparatus for improving localization of a device

A geometric plane defined by a building-perimeter feature in an image capture by a mobile device is identified. The building-perimeter feature is co-located with an exterior wall of a building within which the mobile device is located. An orientation and/or location of the mobile device with respect to the geometric plane and an orientation of the mobile device with respect to a defined geographical direction are determined. A building model for the building and defining perimeter portions of the building (each perimeter portion corresponding to a respective exterior wall) is obtained or accessed. Based on the orientation and/or location of the mobile device with respect to the geometric plane, the orientation of the mobile device with respect to the defined geographical direction, and/or the building model, a particular perimeter portion of the building model that corresponds to the building-perimeter feature is identified and corresponding location information is determined.

Indoor localization based on detection of building-perimeter features

The absolute altitude of multiple floors of a building are determined using a multi-mode learning process. Processor(s) execute application program code to cause an apparatus to operate in an initial floor learning mode that includes capturing outdoor altitude estimates for the apparatus and determining, based in part on the outdoor altitude estimates, instant altitude estimates for an initial floor of the building. An absolute altitude estimate for the initial floor is determined based one the instant altitude estimates. After the absolute altitude estimate for the initial floor satisfies a first threshold certainty, the apparatus operates in a subsequent floor learning mode configured for determining respective absolute altitudes for floors of the building based on the absolute altitude estimate for the initial floor and a priori floor height information for the building, a sensor-based altitude change estimate, and/or a determined floor height for the building.

Multiple mode learning of absolute altitude of floors of a building

Disclosed is an approach to improve data collection for a radio-based positioning system. The disclosed approach may involve processor(s) (e.g., of positioning server(s) and/or of a mobile device) obtaining radio data associated with the mobile device, where the radio data is collected while the mobile device is located within a particular vehicle during a time of commute. The processor(s) may determine a particular location of the particular vehicle representing where the particular vehicle is or was located during the time of commute. And the processor(s) may then use the particular location of the particular vehicle to geo-reference the radio data collected while the mobile device is located within the particular vehicle during the time of commute.

Methods and systems for using a vehicle location to geo-reference radio data collected during a time of commute

A method, apparatus and computer program product are provided to accelerate the estimation of a radio model of a beamforming access point within a radio environment, such as a beamforming access point that has been newly added to or relocated. In a method, the presence of a first beamforming access point in a radio environment is determined and information is obtained regarding one or more of a plurality of beams that are transmitted by the first access point. The method then estimates the radio model of the first access point based at least upon: (i) at least some of the information regarding the one or more of the beams transmitted by the first access point and (ii) signal propagation characteristics of one or more existing access points in the radio environment as represented by respective radio models of the one or more existing access points.

Growing community of inventors

Tampere, Finland

Lauri Aarne Johannes Wirola