SG11201908191WA - Co-localisation - Google Patents

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 18 October 2018 (18.10.2018) W I PO I PCT IiiimmommionotiolomonoinimmioniovoimIE (10) International Publication Number WO 2018/189529 Al (51) International Patent Classification: G01S 5/02 (2010.01) G06F 17/30 (2006.01) G01S 5/00 (2006.01) (21) International Application Number: PCT/GB2018/050955 (22) International Filing Date: 10 April 2018 (10.04.2018) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 1705767.0 10 April 2017 (10.04.2017) GB 62/483,694 10 April 2017 (10.04.2017) US 1804192.1 15 March 2018 (15.03.2018) GB (71) Applicant: BLUE VISION LABS UK LIMITED [GB/GB]; 1 Kingsland Road, London E2 8AA (GB). (72) Inventors: ONDRUSKA, Peter; Flat 3, 8-13 New Inn Street, London Greater London EC2A 3PY (GB). PLATINSKY, Lukas; Flat 3, 8-13 New Inn Street, London Greater London EC2A 3PY (GB). (74) Agent: BARNES, Philip; THE IP ASSET PART- NERSHIP LIMITED, Prama House, 267 Banbury Road, Oxford Oxfordshire OX2 7HT (GB). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, (54) Title: CO-LOCALISATION Server System Global Map Localiser 21 Pose - 23 Manage J 22 A 41 Localisation \.__Th request 3 r Client System 42 r Localisation - 1 response 51 52 Poses of other devices GPS 60 61 V Client SLAM 34 IMU (. 2 Global pose of the device 53 Relative poses of other devices • Pose Estimator IV AR Engine Display 33 32 31 Camera Figure 1 (57) : The present invention relates to a method of co-localisation for multiple devices. More precisely, it relates to the use of both local and remote resources to provide substantially real time capability for individual devices to determine the relative position and/or pose of the or each individual device and other devices in three-dimensional space. According to a first aspect, there is provided a method of determining a relative location of devices having one or more sensors comprising the steps of: receiving localisation requests from a plurality of devices, the localisation requests comprising at least a portion of data from the one or more sensors; sending localisation data to at least one of the plurality of devices in response to the localisation requests; receiving pose data from one or more of the plurality of devices; sending pose data to at least one of the plurality of devices; wherein one or more of the plurality of devices is operable to determine the relative location of at least one or more of the plurality of devices from the received localisation data and pose data. [Continued on next page] WO 2018/189529 Al MIDEDIMOMOIDEIREEMOMMEIHEEMEHIMEN MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Declarations under Rule 4.17: as to the identity of the inventor (Rule 4.17(0) as to applicant's entitlement to apply for and be granted a patent (Rule 4.17(ii)) as to the applicant's entitlement to claim the priority of the earlier application (Rule 4.17(iii)) of inventorship (Rule 4.17(iv)) Published: — with international search report (Art. 21(3))