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US-20260126521-A1 - ACCURATE MULTI-OBJECT TRACKING FOR EXTENDED REALITY SYSTEMS

US20260126521A1US 20260126521 A1US20260126521 A1US 20260126521A1US-20260126521-A1

Abstract

In some embodiments, there is provide a method including receiving, by a locator comprising a plurality of antennas, at least one signal received from a first tag; measuring, by the locator, a time of arrival of the at least one signal and a phase of the at least one signal; determining, by the locator, a location estimate for the first tag, wherein the location estimate is determined based on at least the measured time of arrival and the measured phase; and outputting, by the locator, the determined location estimate for the first tag. Related system, methods, and articles of manufacture are also disclosed.

Inventors

  • Aditya Arun
  • Shunsuke Saruwatari
  • Dinesh Bharadia
  • Sureel SHAH

Assignees

  • THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Dates

Publication Date
20260507
Application Date
20240614

Claims (19)

  1. 1 . A method comprising: receiving, by a locator comprising a plurality of antennas, at least one signal received from a first tag; measuring, by the locator, a time of arrival of the at least one signal and a phase of the at least one signal; determining, by the locator, a location estimate for the first tag, wherein the location estimate is determined based on at least the measured time of arrival and the measured phase; and outputting, by the locator, the determined location estimate for the first tag.
  2. 2 . The method of claim 1 , wherein the plurality of antennas is configured within a 1 meter or less distance.
  3. 3 . The method of claim 1 , wherein the measuring further comprises determining, using the time of arrival of the at least one signal, a time difference of arrival between at least a pair of antennas of the plurality of antennas.
  4. 4 . The method of claim 3 , wherein the measuring further comprises determining, using the phase of the at least one signal, a phase difference of arrival between at least a pair of antennas of the plurality of antennas.
  5. 5 . The method of claim 4 , wherein the location estimate is determined using the phase difference of arrival between at least the pair of antennas and the time difference of arrival between at least the pair of antennas.
  6. 6 . The method of claim 5 , wherein the location estimate is determined using an optimization of at least the phase difference of arrival and the time difference of arrival.
  7. 7 . The method of claim 6 , wherein the optimization uses packet filters to determine the location estimate.
  8. 8 . The method of claim 1 , wherein the at least one signal is an ultrawideband pulse signal, a Bluetooth signal, WiFi, or a Bluetooth low energy signal.
  9. 9 . The method of claim 1 , wherein the plurality of antennas is configured within a 1 meter or less distance.
  10. 10 . The method of claim 1 further comprising: controlling transmission of the first tag and a second tag; receiving, by the locator, at least another signal from the second tag; determining, by the locator, the location estimates for the first tag and a second location estimate for the second tag; and outputting, by the locator, the determined location estimates for the first tag and the second tag. A system comprising: at least a plurality of antennas each coupled to a receiver configured to receive at least one signal received from at least a first tag; and at least one processor and at least one memory including instructions which when executed by the at least one processor causes operations comprising: measuring a time of arrival of the at least one signal and a phase of the at least one signal; determining a location estimate for the first tag, wherein the location estimate is determined based on at least the measured time of arrival and the measured phase; and outputting the determined location estimate for the first tag.
  11. 11 . The system of claim 11 , wherein the plurality of antennas is configured within a 1 meter or less distance.
  12. 12 . The system of claim 11 , wherein the measuring further comprises determining, using the time of arrival of the at least one signal, a time difference of arrival between at least a pair of antennas of the plurality of antennas.
  13. 13 . The system of claim 13 , wherein the measuring further comprises determining, using the phase of the at least one signal, a phase difference of arrival between at least a pair of antennas of the plurality of antennas.
  14. 14 . The system of claim 14 , wherein the location estimate is determined using the phase difference of arrival between at least the pair of antennas and the time difference of arrival between at least the pair of antennas.
  15. 15 . The system of claim 15 , wherein the location estimate is determined using an optimization of at least the phase difference of arrival and the time difference of arrival.
  16. 16 . The system of claim 16 , wherein the optimization uses packet filters to determine the location estimate.
  17. 17 . The system of claim 11 , wherein the at least one signal is an ultrawideband pulse signal, a Bluetooth signal, WiFi, or a Bluetooth low energy signal.
  18. 18 . The system of claim 11 , wherein the plurality of antennas is configured within a 1 meter or less distance.
  19. 19 . The system of claim 11 further comprising: controlling transmission of the first tag and a second tag; receiving, by the locator, at least another signal from the second tag; determining, by the locator, the location estimates for the first tag and a second location estimate for the second tag; and outputting, by the locator, the determined location estimates for the first tag and the second tag.

Description

CROSS-REFERENCE TO RELATED APPLICATION The present application claims priority to U.S. Provisional Patent Appl. No. 63/508,849 to Arun et al., filed Jun. 16, 2023, and entitled “ACCURATE MULTI-OBJECT TRACKING FOR EXTENDED REALITY SYSTEMS,” and incorporates its disclosure herein by reference in its entirety. TECHNICAL FIELD The present disclosure generally relates to object tracking. BACKGROUND Understanding the location of objects and people in the real world is a key to many use cases including for example enabling a smooth cyber-physical transition. However, most localization systems today require the deployment of multiple antennas (also referred to as “anchors”) dispersed throughout the environment, and these multiple antennas can be very cumbersome to setup. SUMMARY In some example embodiments, there may be provided object tracking. In some embodiments, there is provided a method that includes receiving, by a locator comprising a plurality of antennas, at least one signal received from a first tag; measuring, by the locator, a time of arrival of the at least one signal and a phase of the at least one signal; determining, by the locator, a location estimate for the first tag, wherein the location estimate is determined based on at least the measured time of arrival and the measured phase; and outputting, by the locator, the determined location estimate for the first tag. In some implementations, the current subject matter may include one or more of the following optional features. The plurality of antennas is configured within a 1 meter or less distance. The measuring further includes determining, using the time of arrival of the at least one signal, a time difference of arrival between at least a pair of antennas of the plurality of antennas. The measuring further includes determining, using the phase of the at least one signal, a phase difference of arrival between at least a pair of antennas of the plurality of antennas. The location estimate is determined using the phase difference of arrival between at least the pair of antennas and the time difference of arrival between at least the pair of antennas. The location estimate is determined using an optimization of at least the phase difference of arrival and the time difference of arrival. The optimization uses packet filters to determine the location estimate. The at least one signal is an ultrawideband pulse signal, a Bluetooth signal, WiFi, or a Bluetooth low energy signal. The plurality of antennas is configured within a 1 meter or less distance. The method further includes controlling transmission of the first tag and a second tag; receiving, by the locator, at least another signal from the second tag; determining, by the locator, the location estimates for the first tag and a second location estimate for the second tag; and outputting, by the locator, the determined location estimates for the first tag and the second tag. In some embodiments, there is provided a system that includes at least a plurality of antennas each coupled to a receiver configured to receive at least one signal received from at least a first tag; and at least one processor and at least one memory including instructions which when executed by the at least one processor causes operations including measuring a time of arrival of the at least one signal and a phase of the at least one signal; determining a location estimate for the first tag, wherein the location estimate is determined based on at least the measured time of arrival and the measured phase; and outputting the determined location estimate for the first tag. In some implementations, the current subject matter may include one or more of the following optional features. The plurality of antennas is configured within a 1 meter or less distance. The measuring further comprises determining, using the time of arrival of the at least one signal, a time difference of arrival between at least a pair of antennas of the plurality of antennas. The measuring further includes determining, using the phase of the at least one signal, a phase difference of arrival between at least a pair of antennas of the plurality of antennas. The location estimate is determined using the phase difference of arrival between at least the pair of antennas and the time difference of arrival between at least the pair of antennas. The location estimate is determined using an optimization of at least the phase difference of arrival and the time difference of arrival. The optimization uses packet filters to determine the location estimate. The at least one signal is an ultrawideband pulse signal, a Bluetooth signal, WiFi, or a Bluetooth low energy signal. The plurality of antennas is configured within a 1 meter or less distance. The system further includes controlling transmission of the first tag and a second tag; receiving, by the locator, at least another signal from the second tag; determining, by the locator, the location estimates for the first ta