Indoor localization sensing hardware via phased-array and CV correlation.
A system and method for combining computer vision information about human subjects within the field-of-view of a computer vision subsystem with RF Angle of Arrival (AoA) information from an RF receiver subsystem to locate, identify, and track individuals and their location. The RF receiver subsystem may receive RF signals emitted by one or more electronic devices (e.g., a mobile phone) carried, held, or otherwise associated with am individual. Further, gestures can be made with the device and they can be detected by the system.
BACKGROUND
In recent years, interactive games and experiences and other types of visitor entertainment and services have been developed for amusement parks to increase the engagement and enjoyment of park visitors. As part of this, it can be desirable to track the precise location of park visitors as they move about and experience the amusement park.
To date, approaches for tracking individuals have included technologies such as GPS, RFID, and BLE (Bluetooth Low Energy). All such approaches have suffered from a lack of sufficient precision and/or a need to have each individual voluntarily wear or carry an object (e.g., a wristband, badge, or other device that contained an RFID chip or the like).
It is against this background that the techniques described herein have been developed.SUMMARY
Disclosed herein is a system for identifying and tracking the location of human subjects. The system includes an RF receiver subsystem that includes a phased array antenna of multiple antenna elements, wherein the RF receiver subsystem receives RF signals emitted from at least one electronic device worn or carried by a human subject, the RF receiver subsystem detecting identifying information in the received RF signals from the human subject so as to be able to distinguish the human subject from other human subjects, and the RF receiver subsystem determining the Angle of Arrival (AoA) of the received RF signals. The system also includes a computer vision subsystem tha
1. A system for identifying and tracking the location of human subjects, comprising: an RF receiver subsystem that includes a phased array antenna of multiple antenna elements, wherein the RF receiver subsystem receives RF signals emitted from at least one electronic device worn or carried by a human subject, the RF receiver subsystem detecting identifying information in the received RF signals from the human subject so as to be able to distinguish the human subject from other human subjects, and the RF receiver subsystem determining the Angle of Arrival (AoA) of the received RF signals; and a computer vision subsystem that includes at least one camera to generate image information based on a scene viewed by the camera, the computer vision subsystem processing the image information to identify one or more human subjects in the scene, and to determine the angular position of each human subject relative to the computer vision subsystem; wherein the identifying information in the received RF signals and the AoA of the received RF signals is fused with the determined angular position of each human subject from the computer vision subsystem so that each human subject is identified and the angular position of each human subject is known.
16. A method for identifying and tracking the location of human subjects, comprising: RF signals from electronic devices associated with one or more individuals are received; the angles of arrival and the relative signal strengths of the RF signals are determined; identification information is associated with each electronic device; images are obtained of a scene and the presence and location of one or more humans are detected; and the identification information associated with the electronic devices is then associated with the one or more humans detected in the images.
17. A system for identifying and tracking the location of human subjects, comprising: an RF receiver subsystem that includes a phased array antenna of multiple antenna elements, wherein the RF receiver subsystem receives RF signals emitted from at least one electronic device worn or carried by a human subject, the RF receiver subsystem detecting identifying information in the received RF signals from the human subject so as to be able to distinguish the human subject from other human subjects, and the RF receiver subsystem determining the Angle of Arrival (AoA) of the received RF signals; and a computer vision subsystem that includes at least one camera to generate image information based on a scene viewed by the camera, the computer vision subsystem processing the image information to identify one or more human subjects in the scene, and to determine the angular position of each human subject relative to the computer vision subsystem; wherein the identifying information in the received RF signals and the AoA of the received RF signals is fused with the determined angular position of each human subject from the computer vision subsystem so that each human subject is identified and the angular position of each human subject is known; wherein one or both of the determining the AoA of the received RF signals and the determining of the angular position of each human subject is performed using at least one of a static nearest neighbors algorithm and path correlation; wherein the determining of angular position of each human subject relative to the computer vision subsystem further includes determining the distance of each human subject from the computer vision subsystem so as to determine the three-dimensional location of each subject relative to the computer vision subsystem.