Abstract: A computer implemented method (400) of locating a plurality of mobile device trajectories (301) relative to each other and a map (1, 1?), the mobile device trajectories (301) comprising a time series of position nodes (303) joined by edges (305), the method (400) comprising: obtaining an input pose graph (311) comprising a plurality of mobile device trajectories (301) and a plurality of first constraints (309) defining the position and orientation of nodes (303) and edges (305) of the trajectories relative to each other; performing a non-linear optimisation process on the input pose graph (311) based on the first constraints (309), to reduce a cost function associated with the first constraints (309), the non-linear optimisation process providing a modified pose graph (313); extracting one or more sub-graphs from the modified pose graph (313), and for each sub-graph, individually processing the sub-graph to map match the nodes (303) and edges (305) of the sub-graph to features defined in the map (1,1?); and g

Abstract: A computer implemented method of aligning a plurality of map segments having a local reference frame to a reference map having a global reference frame, each map segment overlapping a portion of the area represented by the reference map, the method comprising: for each map segment, independently generating one or more candidate alignments, aligning the map segment to the reference map; for each candidate alignment evaluating a cost function representing the likelihood that the candidate alignment is correct; based on the candidate alignments and associated cost functions, generating one or more candidate solutions, each candidate solution comprising a single candidate alignment for each map segment; for each candidate solution, evaluating a cost function based on at least the cost functions for each candidate alignment included in the candidate solution; and based on evaluation of the cost functions, determining alignment of the plurality of map segments.

Abstract: A touch panel includes a. plurality of electrodes arranged in an electrode array, wherein the plurality of electrodes includes a plurality of touch panel elements. A controller is configured to measure a charge that flows into or out of an electrode of the electrode array when the electrode is charged or discharged to a particular voltage, and configured to connect neighboring electrodes in the electrode array to a reference potential and to a voltage waveform. A sensing system makes a first measurement of the charge flowing into or out of the electrode while a set of neighboring electrodes are driven with the voltage waveform, and makes a second measurement while the set of neighboring electrodes are connected to the reference potential. The controller further is configured to distinguish conductive from non-conductive objects, based on a comparison of the two measurements.

Abstract: A capacitive sensing array includes an array of electrodes; first conductive data lines arranged in a first direction and second conductive data lines arranged in a second direction different from the first direction; first switching elements configured to connect each electrode to a first conductive line in the first direction, and second switch elements configured to connect each electrode to a second conductive line in the second direction; and control lines connected to the first and second switching elements. Electrical connections are present between each first conductive data line in the first direction and a second conductive data line in the second direction such that each first conductive line in the first direction is connected to at least one second conductive line in the second direction.

Abstract: A touch panel includes a. plurality of electrodes arranged in an electrode array, wherein the plurality of electrodes includes a plurality of touch panel elements. A controller is configured to measure a charge that flows into or out of an electrode of the electrode array when the electrode is charged or discharged to a particular voltage, and configured to connect neighboring electrodes in the electrode array to a reference potential and to a voltage waveform. A sensing system makes a first measurement of the charge flowing into or out of the electrode while a set of neighboring electrodes are driven with the voltage waveform, and makes a second measurement while the set of neighboring electrodes are connected to the reference potential. The controller further is configured to distinguish conductive from non-conductive objects, based on a comparison of the two measurements.

Abstract: A capacitive sensing array includes an array of electrodes; first conductive data lines arranged in a first direction and second conductive data lines arranged in a second direction different from the first direction; first switching elements configured to connect each electrode to a first conductive line in the first direction, and second switch elements configured to connect each electrode to a second conductive line in the second direction; and control lines connected to the first and second switching elements. Electrical connections are present between each first conductive data line in the first direction and a second conductive data line in the second direction such that each first conductive line in the first direction is connected to at least one second conductive line in the second direction.

Abstract: A touch panel device includes a two dimensional array of electrodes comprising a plurality of electrodes, and a controller electrically coupled to the two dimensional array of electrodes. A first portion of the electrodes are assignable by the controller as drive electrodes or unused electrodes, and a second portion of the electrodes are assignable by the controller as sense electrodes or unused electrodes.