Methods, apparatus and systems for map reconstruction based on wireless tracking are described. In one example, a described system comprises: a sensor configured to collect sensing data in a venue and obtain a plurality of trajectories, and a processor. Each trajectory is a time series of spatial coordinates (TSSC) representing a path traversed by a respective object in the venue. Each TSSC is accompanied by at least one respective time series of sensing data (TSSD) collected while the respective object traverses the path in the venue. The processor is configured for: segmenting each TSSC and its accompanying at least one TSSD into segments, bundling the plurality of trajectories based on similarity measures between pairs of the segments, fusing the bundled trajectories to generate fused trajectories, computing a shape of the fused trajectories, and generating a map of the venue based on the computed shape.

The indoors and outdoors are mapped into a grid comprised of cells using geohashing, wherein buildings, solid structures, and walkways are separately rendered and incorporated into the digital computer implementation, the size of each cell being indicative of the physical dimensions. Each cell has associated location-based static and temporal data that represent some aspect of the corresponding real-life representation of the cell, resulting in large amount of well-structured and useful data. A key method of this invention is an adaptation of fast pathfinding using cell-based vector field algorithm that is used in interactive computer gaming in virtual environments.

Aspects of the subject disclosure may include, for example, receiving, over a network from a plurality of mobile devices via a plurality of installed SDKs, sensor data captured by one or more sensors of the plurality of mobile devices, where the sensor data includes geomagnetic data captured within a particular building; providing, over the network, the sensor data to a geomagnetic mapping server to enable generation of a geomagnetic footprint for the particular building that is aggregated with indoor mapping data for the particular building and stored as a map in a mapping repository; and providing, over the network, the map of the particular building to a communication device for presentation at the communication device along with real-time locations of first responders in the particular building, where the real-time locations are determined according to real-time sensor data including real-time geomagnetic data captured by sensors of the first responders. Other embodiments are disclosed.

A server system is provided that includes a platform server system configured to store platform map data that is geospatially referenced and includes building outline data for one or more buildings, and provide the platform map data to client computer devices. The server system further includes a tenant bounded server system including one or more processors configured to store building floorplan data for a tenant entity, and provide building floorplan data to client computer devices that are authenticated for the tenant entity. The one or more processors of the tenant bounded server system are further configured to receive a set of building floorplan data for a target building included in the platform map data, determine geospatial reference data for the set of building floorplan data by aligning the set of building floorplan data with building outline data of the target building.

Methods, systems, and devices are described. Indoor wayfinding may be performed using a set of layers overlayed on a map, such as a site map of the surrounding environment of a building, using a combination of static and dynamic images. For example, a user device may transmit a request to a server for a route to a desired location of a floor of a building. In some cases, the server may, in response to the request, generate the route using a set of map layers that includes a static image of the site, a static image of a floor plan of the floor housing the location, a vector image of features such as rooms and offices of the floor that includes the desired location, and a vector image of a route from a starting location of the floor, such as an entrance or elevator, and the desired location.

A method and system for capturing, by a camera a sequence of frames at respective locations within a portion of an environment; capturing, by an inertial measurement unit, a sequence of inertial odometry data corresponding to the sequence of frames at the respective locations; storing in a queue a data record includes information extracted from processing the respective frame and information from the inertial measurement unit; in accordance with a determination that the sequence of inertial odometry data satisfies a first criterion: calculating a first relative pose between the first frame and the second frame; and in accordance with a determination that a difference between the first relative pose and the information extracted from processing the respective frame satisfy a first threshold: generating an initial map of the portion of the environment based on the first data record and the second data record.

A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a scanner having a first light source, an image sensor, a second light source and a controller, the second light source emitting a visible light, the controller determining a distance to points based on a beam of light emitted by the first light source and receiving of the reflected beam of light from the points. Processors are operably coupled to the scanner execute a method comprising: generating a map of the environment; emitting light from the second light source towards an edge defined by at least a pair of surfaces; detecting the edge based on emitting a second beam of light and receiving the reflected second beam of light; and defining a room on the map based on the detecting of the corner or the edge.

A surveillance robot is adapted with a light-weight body formed with light-weight foam, wheel motors arranged within the light-weight foam and connected to wheels extending out from the body and drivable by the wheel motors, a sensor system at least partially arranged within the light-weight foam for picking up any of image, audio and environmental data, an electronic controller arranged within the light-weight foam, connected to the sensor system and wheel motors, and including a memory and a set of computer instructions that provide for surveillance robot operation, and a transceiver section connected to the electronic controller and including an antenna for transmitting and receiving commands, the image data, the audio data and/or the environmental data to or from the electronic controller. The light-weight foam substantially surrounds, supports and protects the wheel motors, sensor system, electronic controller and transceiver from mechanical shock as the robot traverses obstacles.

A building appraisal system conducted by a remote inspector located away from a building. A remote user connected to a user on site can share images, measurements and other data to conduct an examination of the building such as an appraisal. A processor coupled to an image sensor can be configured to receive a gross floor area of the building. Images of an interior room of the building are stored in memory. The processor determines a planar surface in the images corresponding to a floor surface of the interior room and a plurality of corners in the images forming vertices of a bounded floor area on the floor surface. The processor can compute an adjusted floor area of the building that includes the bounded floor area subtracted from the gross floor area.

Systems and methods for creating electronic indoor maps for emergency services are provided. The system has a processor operatively coupled to at least one storage unit and a communication component, the processor being configured for: receiving a service provider identifier from a computing device of at least one computing device; granting the computing device access to an annotation layer of an electronic map of at least one electronic map based on the service provider identifier; generating at least one annotation in response to receiving at least one selection of a service resource within a facility from the computing device; and storing the at least one annotation in the annotation layer.