System and method for monitoring movements

Abstract

Systems and methods for monitoring movements. A method includes detecting motion based on first localization data related to a localization device moving in a distinct motion pattern, wherein the first localization data is based on sensor readings captured by at least one sensor; correlating the detected motion to a known motion of the localization device based on respective times of the first localization data and of the localization device; localizing the localization device with respect to a map based on the correlation; tracking at least one first location of an object based on second localization data captured by the at least one sensor, wherein the at least one first location is on the map, wherein the tracking further comprises identifying at least one second location of the object based on the second localization data and determining the at least one first location based on the at least one second location.

What is claimed is: 
     
         1 . A method for monitoring movement of objects in space, comprising:
 detecting motion based on first localization data related to a localization device moving in a distinct motion pattern, wherein the first localization data is based on sensor readings captured by at least one sensor;   correlating the detected motion to a known motion of the localization device based on respective times of the first localization data and of the localization device;   localizing the localization device with respect to a map based on the correlation;   tracking at least one first location of an object based on second localization data captured by the at least one sensor, wherein the at least one first location is on the map, wherein the tracking further comprises identifying at least one second location of the object based on the second localization data and determining the at least one first location based on the at least one second location.   
     
     
         2 . The method of  claim 1 , wherein correlating the detected motion to the known motion of the localization device further comprises:
 determining a highest correlation between the known motion of the localization device and the detected motion.   
     
     
         3 . The method of  claim 1 , wherein the known location of the localization device is determined based on a position of the localization device, wherein the position of the localization device is determined using simultaneous localization and mapping. 
     
     
         4 . The method of  claim 1 , wherein the at least one sensor includes at least one camera, wherein the first localization data includes at least one image captured by the at least one camera and showing the localization device moving. 
     
     
         5 . The method of  claim 4 , wherein the method is performed by a system, wherein the at least one camera is affixed to the system. 
     
     
         6 . The method of  claim 4 , wherein the method is performed by a system, wherein the at least one camera is configured for locomotion independent of the system. 
     
     
         7 . The method of  claim 4 , wherein the method is performed by a system, wherein the at least one camera includes a first camera and a second camera, wherein the first camera is affixed to the system, wherein the second camera is configured for locomotion independent of the system. 
     
     
         8 . The method of  claim 4 , wherein the method is performed by a system, wherein the system is a mobile device. 
     
     
         9 . The method of  claim 1 , wherein the detected motion includes at least one distinct motion pattern of the localization device, wherein the at least one distinct motion pattern is different from a motion pattern of the object. 
     
     
         10 . The method of  claim 1 , further comprising:
 causing the localization device to perform at least one action based on the tracked location of the object.   
     
     
         11 . The method of  claim 10 , wherein the at least one action is at least one of: cleaning, mowing a lawn, patrolling, and picking up the object. 
     
     
         12 . The method of  claim 1 , further comprising:
 tracking at least one action by the localization device, wherein the tracking further comprises identifying at least one action location of the localization device based on the second localization data, wherein the localization device performed one of the at least one action at each of the at least one action location.   
     
     
         13 . A non-transitory computer readable medium having stored thereon instructions for causing a processing circuitry to execute a process, the process comprising:
 detecting motion based on first localization data related to a localization device moving in a distinct motion pattern, wherein the first localization data is based on sensor readings captured by at least one sensor;   correlating the detected motion to a known motion of the localization device based on respective times of the first localization data and of the localization device;   localizing the localization device with respect to a map based on the correlation;   tracking at least one first location of an object based on second localization data captured by the at least one sensor, wherein the at least one first location is on the map, wherein the tracking further comprises identifying at least one second location of the object based on the second localization data and determining the at least one first location based on the at least one second location.   
     
     
         14 . A system for monitoring movement of objects in space, comprising:
 a processing circuitry; and   a memory, the memory containing instructions that, when executed by the processing circuitry, configure the system to:   detect motion based on first localization data related to a localization device moving in a distinct motion pattern, wherein the first localization data is based on sensor readings captured by at least one sensor;   correlate the detected motion to a known motion of the localization device based on respective times of the first localization data and of the localization device;   localize the localization device with respect to a map based on the correlation;   track at least one first location of an object based on second localization data captured by the at least one sensor, wherein the at least one first location is on the map, wherein the tracking further comprises identifying at least one second location of the object based on the second localization data and determining the at least one first location based on the at least one second location.   
     
     
         15 . The system of  claim 14 , wherein the system is further configured to:
 determine a highest correlation between the known motion of the localization device and the detected motion.   
     
     
         16 . The system of  claim 14 , wherein the known location of the localization device is determined based on a position of the localization device, wherein the position of the localization device is determined using simultaneous localization and mapping. 
     
     
         17 . The system of  claim 14 , wherein the at least one sensor includes at least one camera, wherein the first localization data includes at least one image captured by the at least one camera and showing the localization device moving. 
     
     
         18 . The system of  claim 17 , further comprising:
 a housing, wherein the processing circuitry and memory are disposed in the housing; and   the at least one camera, wherein the at least one camera is affixed to the housing.   
     
     
         19 . The system of  claim 17 , further comprising:
 a housing, wherein the processing circuitry and memory are disposed in the housing; and   the at least one camera, wherein the at least one camera is configured for locomotion independent of the housing.   
     
     
         20 . The system of  claim 17 , further comprising:
 a housing, wherein the processing circuitry and memory are disposed in the housing; and   the at least one camera, wherein the at least one camera includes a first camera and a second camera, wherein the first camera is affixed to the housing, wherein the second camera is configured for locomotion independent of the housing.   
     
     
         21 . The system of  claim 17 , wherein the system is a mobile device. 
     
     
         22 . The system of  claim 14 , wherein the detected motion includes at least one distinct motion pattern of the localization device, wherein the at least one distinct motion pattern is different from a motion pattern of the object. 
     
     
         23 . The system of  claim 14 , wherein the system is further configured to:
 cause the localization device to perform at least one action based on the tracked location of the object.   
     
     
         24 . The system of  claim 23 , wherein the at least one action is at least one of: cleaning, mowing a lawn, patrolling, and picking up the object. 
     
     
         25 . The system of  claim 14 , further comprising:
 tracking at least one action by the localization device, wherein the tracking further comprises identifying at least one action location of the localization device based on the second localization data, wherein the localization device performed one of the at least one action at each of the at least one action location.