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Extract from the Register of European Patents

EP About this file: EP3460400

EP3460400 - IMPROVED LOCALIZATION OF A MOBILE DEVICE BASED ON IMAGE AND RADIO WORDS [Right-click to bookmark this link]
StatusNo opposition filed within time limit
Status updated on  28.10.2022
Database last updated on 05.10.2024
FormerThe patent has been granted
Status updated on  19.11.2021
FormerGrant of patent is intended
Status updated on  13.10.2021
FormerExamination is in progress
Status updated on  25.05.2020
FormerRequest for examination was made
Status updated on  30.08.2019
FormerThe application has been published
Status updated on  22.02.2019
Most recent event   Tooltip13.09.2024Lapse of the patent in a contracting state
New state(s): MT		published on 16.10.2024 [2024/42]
Applicant(s)For all designated states
Softbank Robotics Europe
43, rue du Colonel Pierre Avia
75015 Paris / FR
For all designated states
ARMINES
60, Boulevard Saint Michel
75272 Paris Cedex 06 / FR
[2021/47]
Former [2019/13]For all designated states
Softbank Robotics Europe
43 rue du Colonel Pierre Avia
75015 Paris / FR
For all designated states
ARMINES
60, Boulevard Saint Michel
75272 Paris Cedex 06 / FR
Inventor(s)01 / NOWAKOWSKI, Mathieu
c/o ARMINES
60, Boulevard Saint Michel
75272 Paris Cedex 06 / FR
02 / JOLY, Cyril
c/o ARMINES
60, Boulevard Saint Michel
75272 Paris Cedex 06 / FR
03 / FRES, Scarlett
c/o SOFTBANK ROBOTICS EUROPE
43, rue du Colonel Pierre Avia
75015 Paris / FR
04 / GARCIA, Nicolas
c/o SOFTBANK ROBOTICS EUROPE
43, rue du Colonel Pierre Avia
75015 Paris / FR
05 / MOUTARDE, Fabien
c/o ARMINES
60, Boulevard Saint Michel
75272 Paris Cedex 06 / FR
 [2021/47]
Former [2019/13]01 / NOWAKOWSKI, Mathieu
c/o ARMINES
60 Boulevard Saint Michel
75272 PARIS Cedex 06 / FR
02 / JOLY, Cyril
c/o ARMINES
60 Boulevard Saint Michel
75272 PARIS Cedex 06 / FR
03 / FRES, Scarlett
c/o SOFTBANK ROBOTICS EUROPE
43 rue du Colonel Pierre Avia
75015 PARIS / FR
04 / GARCIA, Nicolas
c/o SOFTBANK ROBOTICS EUROPE
43 rue du Colonel Pierre Avia
75015 PARIS / FR
05 / MOUTARDE, Fabien
c/o ARMINES
60 Boulevard Saint Michel
75272 PARIS Cedex 06 / FR
Representative(s)Atout PI Laplace
Immeuble Up On
25 Boulevard Romain Rolland
CS 40072
75685 Paris Cedex 14 / FR
[N/P]
Former [2021/51]Marks & Clerk France
Immeuble "Visium"
22, avenue Aristide Briand
94117 Arcueil Cedex / FR
Former [2019/13]Bell, Mark
Marks & Clerk France
Immeuble «Visium»
22, avenue Aristide Briand
94117 Arcueil Cedex / FR
Application number, filing date17306252.222.09.2017
[2019/13]
Filing languageEN
Procedural languageEN
PublicationType: A1 Application with search report 
No.:EP3460400
Date:27.03.2019
Language:EN
[2019/13]
Type: B1 Patent specification 
No.:EP3460400
Date:22.12.2021
Language:EN
[2021/51]
Search report(s)(Supplementary) European search report - dispatched on:EP12.03.2018
ClassificationIPC:G01C21/20
[2019/13]
CPC:
G01C21/206 (EP,KR); H04W4/029 (US); G01S5/0252 (KR,US);
H04W4/024 (US); H04W4/30 (US); H04W4/33 (US);
H04W64/003 (US) (-)
Designated contracting statesAL,   AT,   BE,   BG,   CH,   CY,   CZ,   DE,   DK,   EE,   ES,   FI,   FR,   GB,   GR,   HR,   HU,   IE,   IS,   IT,   LI,   LT,   LU,   LV,   MC,   MK,   MT,   NL,   NO,   PL,   PT,   RO,   RS,   SE,   SI,   SK,   SM,   TR [2019/40]
Former [2019/13]AL,  AT,  BE,  BG,  CH,  CY,  CZ,  DE,  DK,  EE,  ES,  FI,  FR,  GB,  GR,  HR,  HU,  IE,  IS,  IT,  LI,  LT,  LU,  LV,  MC,  MK,  MT,  NL,  NO,  PL,  PT,  RO,  RS,  SE,  SI,  SK,  SM,  TR 
TitleGerman:VERBESSERTE ORTUNG EINER MOBILEN VORRICHTUNG AUF BASIS VON BILDERN UND FUNKWÖRTERN[2019/13]
English:IMPROVED LOCALIZATION OF A MOBILE DEVICE BASED ON IMAGE AND RADIO WORDS[2019/13]
French:LOCALISATION AMÉLIORÉE D'UN DISPOSITIF MOBILE SUR LA BASE DES MOTS IMAGE ET RADIO[2019/13]
Examination procedure26.08.2019Amendment by applicant (claims and/or description)
26.08.2019Examination requested  [2019/40]
26.08.2019Date on which the examining division has become responsible
28.05.2020Despatch of a communication from the examining division (Time limit: M04)
19.08.2020Reply to a communication from the examining division
27.10.2021Communication of intention to grant the patent
16.11.2021Fee for grant paid
16.11.2021Fee for publishing/printing paid
16.11.2021Receipt of the translation of the claim(s)
Opposition(s)23.09.2022No opposition filed within time limit [2022/48]
Fees paidRenewal fee
13.09.2019Renewal fee patent year 03
14.09.2020Renewal fee patent year 04
11.09.2021Renewal fee patent year 05
Opt-out from the exclusive  Tooltip
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Patent Court		 See the Register of the Unified Patent Court for opt-out data
Responsibility for the accuracy, completeness or quality of the data displayed under the link provided lies entirely with the Unified Patent Court.
Lapses during opposition  TooltipHU22.09.2017
AL22.12.2021
AT22.12.2021
CY22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
IT22.12.2021
LT22.12.2021
LV22.12.2021
MC22.12.2021
MK22.12.2021
MT22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
IE22.09.2022
LU22.09.2022
[2024/42]
Former [2024/27]HU22.09.2017
AL22.12.2021
AT22.12.2021
CY22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
IT22.12.2021
LT22.12.2021
LV22.12.2021
MC22.12.2021
MK22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
IE22.09.2022
LU22.09.2022
Former [2024/21]HU22.09.2017
AL22.12.2021
AT22.12.2021
CY22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
IT22.12.2021
LT22.12.2021
LV22.12.2021
MC22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
IE22.09.2022
LU22.09.2022
Former [2024/18]HU22.09.2017
AL22.12.2021
AT22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
IT22.12.2021
LT22.12.2021
LV22.12.2021
MC22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
IE22.09.2022
LU22.09.2022
Former [2023/33]AL22.12.2021
AT22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
IT22.12.2021
LT22.12.2021
LV22.12.2021
MC22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
IE22.09.2022
LU22.09.2022
Former [2023/30]AL22.12.2021
AT22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
IT22.12.2021
LT22.12.2021
LV22.12.2021
MC22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
LU22.09.2022
Former [2023/27]AL22.12.2021
AT22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
IT22.12.2021
LT22.12.2021
LV22.12.2021
MC22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
Former [2023/22]AL22.12.2021
AT22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
MC22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
Former [2023/10]AL22.12.2021
AT22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SI22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
Former [2022/49]AL22.12.2021
AT22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
Former [2022/46]AT22.12.2021
CZ22.12.2021
DK22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
Former [2022/42]AT22.12.2021
CZ22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
IS22.04.2022
PT22.04.2022
Former [2022/36]AT22.12.2021
CZ22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
PL22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
PT22.04.2022
Former [2022/35]CZ22.12.2021
EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SK22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
PT22.04.2022
Former [2022/34]EE22.12.2021
ES22.12.2021
FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
RO22.12.2021
RS22.12.2021
SE22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
PT22.04.2022
Former [2022/33]FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
RS22.12.2021
SE22.12.2021
SM22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
Former [2022/25]FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
RS22.12.2021
SE22.12.2021
BG22.03.2022
NO22.03.2022
GR23.03.2022
Former [2022/24]FI22.12.2021
HR22.12.2021
LT22.12.2021
LV22.12.2021
RS22.12.2021
SE22.12.2021
BG22.03.2022
GR23.03.2022
Former [2022/22]FI22.12.2021
LT22.12.2021
RS22.12.2021
BG22.03.2022
Former [2022/21]RS22.12.2021
BG22.03.2022
Former [2022/19]BG22.03.2022
Documents cited:Search[X]WO2011144968  (NOKIA CORP [FI], et al) [X] 1,14,15 * abstract * * figures 1-12 * * paragraphs [0006] , [0 25] , [0 39] - [0045] - [0 60] , [0 61] , [0 68] , [0 81] * * claims 1-25 *;
    [XDYI] - QUIGLEY M ET AL, "Sub-meter indoor localization in unmodified environments with inexpensive sensors", INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2010 IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, (20101018), doi:10.1109/IROS.2010.5651783, ISBN 978-1-4244-6674-0, pages 2039 - 2046, XP031920707 [XD] 1,5,11,14,15 * abstract * * figures 1-12 * * I. Introduction * * p.2041-2042, C. Camera Sensor Model * * p.2042-2043, WiFi Sensor Model * * p.2043-2044, E. Localization * [Y] 2-4,8-10,12,13 [I] 6,7

DOI:   http://dx.doi.org/10.1109/IROS.2010.5651783
 [YD]  - M. CUMMINS ET AL, "FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance", THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, (20080601), vol. 27, no. 6, doi:10.1177/0278364908090961, ISSN 0278-3649, pages 647 - 665, XP055066085 [YD] 2-4,8-10,12,13 * abstract * * figures 1-13 * * p. 649-654, 3. Approximating High-dimensional Discrete Distributions * * 4. Probabilistic Navigation using Appearance *

DOI:   http://dx.doi.org/10.1177/0278364908090961
 [A]  - JAN WIETRZYKOWSKI ET AL, "Adopting the FAB-MAP algorithm for indoor localization with WiFi fingerprints", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, (20161107), XP080729876 [A] 1-15 * abstract * * figures 1-4 * * 1. Introduction * * 3. Adopting FAB-MAP to WiFi features *
by applicant   - CUMMINS, M.; NEWMAN, P., "FAB-MAP: Probabilistic localization and mapping in the space of appearance", The International Journal of Robotics Research, (20080000), vol. 27, no. 6, doi:doi:10.1177/0278364908090961, pages 647 - 665, XP055066085

DOI:   http://dx.doi.org/10.1177/0278364908090961
    - CUMMINS, M.; NEWMAN, P., "Appearance-only SLAM at large scale with FAB-MAP 2.0", The International Journal of Robotics Research, (20110000), vol. 30, no. 9, pages 1100 - 1123
    - "Video Google: A text retrieval approach to object matching in videos", SIVIC, J.; ZISSERMAN, A., Computer Vision, 2003. Proceedings. Ninth IEEE International Conference, IEEE, (20031000), page 1470
    - "Localization based on fusion of rfid and stereo image data", SCHWIEGELSHOHN, F.; NICK, T.; GOTZE, J., Positioning Navigation and Communication (WPNC), 2013 10th Workshop, IEEE, (20130300), pages 1 - 6
    - "Sub-meter indoor localization in unmodified environments with inexpensive sensors", QUIGLEY, M.; STAVENS, D.; COATES, A.; THRUN, S., In Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference, IEEE, (20101000), pages 2039 - 2046
    - NOWICKI, M., "WiFi-guided visual loop closure for indoor navigation using mobile devices", Journal of Automation Mobile Robotics and Intelligent Systems, (20140000), vol. 8, no. 3, pages 10 - 18
    - "Multi-sensor mobile robot localization for diverse environments", BISWAS, J.; VELOSO, M., Robot Soccer World Cup, Springer, (20130600), pages 468 - 479
    - "Video Google: A text retrieval approach to object matching in videos", SIVIC, J.; ZISSERMAN, A., In null, IEEE, (20031000), page 1470
    - SIVIC, J.; ZISSERMAN, A., "Video Google: A text retrieval approach to object matching in videos", In Computer Vision, 2003. Proceedings Ninth IEEE International Conference on IEEE, (20031000), doi:doi:10.1109/ICCV.2003.1238663, pages 1470 - 1477, XP010662565

DOI:   http://dx.doi.org/10.1109/ICCV.2003.1238663
    - The International Journal of Robotics Research, vol. 27, no. 6, pages 647 - 665
 EP20140305848
 EP20140305849
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