Aligning measured signal data with slam localization data and uses thereof

Abstract

A method includes retrieving a map of a 3D geometry of an environment the map including a plurality of non-spatial attribute values each corresponding to one of a plurality of non-spatial attributes and indicative of a plurality of non-spatial sensor readings acquired throughout the environment, receiving a plurality of sensor readings from a device within the environment wherein each of the sensor readings corresponds to at least one of the non-spatial attributes and matching the plurality of received sensor readings to at least one location in the map to produce a determined sensor location.

What is claimed is: 
     
         1 . A method comprising:
 obtaining a map of a 3D geometry of an environment;   receiving a plurality of sensor readings from a plurality of sensors of a device within the environment wherein each of the sensor readings corresponds to at least one non-spatial attribute of a location within the environment; and   matching the plurality of received sensor readings to a representative corresponding location in the map to produce a resulting map of 3D aspects of the environment, the map comprising at least on non-spatial attribute value for each non-spatial attribute at the corresponding location within the environment,   wherein time information is used to synchronize the sensor readings with the location in the map.