Abstract: A shopping cart's tracking system determines a baseline location of the shopping cart at a first timestamp with a wireless device located on the shopping cart detecting one or more external wireless devices (e.g., RFID tags). The shopping cart's tracking system receives wheel motion data from one or more wheel sensors coupled to one or more wheels of the shopping cart, wherein the wheel motion data describes rotation and orientation of the one or more wheels. The shopping cart's tracking system calculates a translation traveled by the shopping cart from the baseline location based on the wheel motion data. The shopping cart's tracking system determines an estimated location of the shopping cart at a second timestamp based on the baseline location and the translation. The shopping cart provides functionality with the estimated location.

Abstract: A shopping cart's tracking system determines a first baseline location of the shopping cart at a first timestamp with a wireless device located on the shopping cart detecting one or more external wireless devices (e.g., RFID tags) in the indoor environment. The shopping cart's tracking system receives wheel motion data from one or more wheel sensors coupled to one or more wheels of the shopping cart, wherein the wheel motion data describes rotation of the one or more wheels. The shopping cart's tracking system calculates a translation traveled by the shopping cart from the first baseline location based on the wheel motion data. The shopping cart's tracking system determines an estimated location of the shopping cart at a second timestamp based on the first baseline location and the translation. With the estimated location, the shopping cart can update a map with the estimated location of the shopping cart.

Abstract: A shopping cart's tracking system determines a first baseline location of the shopping cart at a first timestamp with a wireless device located on the shopping cart detecting one or more external wireless devices (e.g., RFID tags) in the indoor environment. The shopping cart's tracking system receives wheel motion data from one or more wheel sensors coupled to one or more wheels of the shopping cart, wherein the wheel motion data describes rotation of the one or more wheels. The shopping cart's tracking system calculates a translation traveled by the shopping cart from the first baseline location based on the wheel motion data. The shopping cart's tracking system determines an estimated location of the shopping cart at a second timestamp based on the first baseline location and the translation. With the estimated location, the shopping cart can update a map with the estimated location of the shopping cart.

Abstract: A shopping cart's tracking system receives wheel motion data from a plurality of wheel sensors coupled to a plurality of wheels of the shopping cart, wherein the wheel motion data describes rotation of the plurality of wheels and orientation of the plurality of wheels. The tracking system predicts an estimated location of the shopping cart by applying a machine-learning location model to the wheel motion data. The machine-learning location model is trained with training examples that are generated by: receiving prior wheel motion data from the plurality of wheel sensors, partitioning the prior wheel motion data into a plurality of segments using a time window, receiving one or more baseline locations at one or more prior timestamps, and generating one or more training examples, each training example comprising a segment of prior wheel motion data and a baseline location with a timestamp overlapping the segment.