TECHNICAL FIELD

The described aspects relate to mapping systems.

BACKGROUND

Aspects of the present disclosure relate generally to mapping systems, and more particularly, to iteratively mapping the layout of an environment using a stationary camera.

Simultaneous localization and mapping (SLAM) algorithms are often used to determine the layouts of environments right down to their exact measurements. In SLAM, a camera/depth sensor is guided along a path in an environment that ideally has stationary objects. Using the information collected along the path and knowing how fast the camera/depth sensor was moving or how far the camera/depth sensor moved, a detailed layout of the environment can be generated.

There are situations, however, where a layout of an environment may be desired while the camera is kept stationary. For example, a security camera may be installed in an arbitrary position in a shopping mall and landmarks such as walkways, doors, etc., may need to be identified. Information such as the physical parameters (e.g., installation height, tilt angle, etc.) of the camera may be unknown. Here, SLAM algorithms will be ineffective for mapping because the security camera does not move. Furthermore, simple image classification to identify walkways and doors will be ineffective because the measurements of the walkways and doors would not be determined.

Accordingly, there exists a need for improvements in mapping systems.

SUMMARY

The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

An example implementation includes a method for iteratively mapping a layout of an environment, comprising receiving a visual stream from a camera installed in the environment, wherein the visual stream depicts a view of the environment, and wherein positional parameters of the camera and dimensions of the environment are set to arbitrary values. The method further monitoring a plurality of persons in the visual stream. For each person in the plurality of persons, the method further includes identifying a respective path that the person moves along in the view, updating the dimensions of the environment captured in the view, based on an estimated height of the person and movement speed along the respective path, and updating the positional parameters of the camera based on the updated dimensions of the environment. The method further includes mapping a layout of the environment captured in the view of the camera.

Another example implementation includes an apparatus for iteratively mapping a layout of an environment, comprising a memory and a processor configured to communicate with the memory. The processor is configured to receive a visual stream from a camera installed in the environment, wherein the visual stream depicts a view of the environment, and wherein positional parameters of the camera and dimensions of the environment are set to arbitrary values. The processor is configured to monitor a plurality of persons in the visual stream. For each person in the plurality of persons, the processor is configured to identify a respective path that the person moves along in the view, update the dimensions of the environment captured in the view, based on an estimated height of the person and movement speed along the respective path, and update the positional parameters of the camera based on the updated dimensions of the environment. The processor is configured to map a layout of the environment captured in the view of the camera.

Another example implementation includes an apparatus for iteratively mapping a layout of an environment, comprising means for receiving a visual stream from a camera installed in the environment, wherein the visual stream depicts a view of the environment, and wherein positional parameters of the camera and dimensions of the environment are set to arbitrary values. The apparatus further includes means for monitoring a plurality of persons in the visual stream. Additionally, the apparatus further includes means for, for each person in the plurality of persons, (1) identifying a respective path that the person moves along in the view, (2) updating the dimensions of the environment captured in the view, based on an estimated height of the person and movement speed along the respective path, and (3) updating the positional parameters of the camera based on the updated dimensions of the environment. Additionally, the apparatus further includes means for mapping a layout of the environment captured in the view of the camera.

Another example implementation includes a computer-readable medium for iteratively mapping a layout of an environment, executable by a processor to receive a visual stream from a camera installed in the environment, wherein the visual stream depicts a view of the environment, and wherein positional parameters of the camera and dimensions of the environment are set to arbitrary values. The instructions are further executable to monitor a plurality of persons in the visual stream. For each person in the plurality of persons, the instructions are further executable to identify a respective path that the person moves along in the view, update the dimensions of the environment captured in the view, based on an estimated height of the person and movement speed along the respective path, and update the positional parameters of the camera based on the updated dimensions of the environment. Additionally, the instructions are further executable to map a layout of the environment captured in the view of the camera.

To the accomplishment of the foregoing and related ends, the one or more aspects comprise the features hereinafter fully described and particularly pointed out in the claims. The following description and the annexed drawings set forth in detail certain illustrative features of the one or more aspects. These features are indicative, however, of but a few of the various ways in which the principles of various aspects may be employed, and this description is intended to include all such aspects and their equivalents.

