Use of multi-scale fiducials by autonomously controlled aerial vehicles

A system, comprising:

• an autonomously controlled aerial vehicle;
• and
• control logic implemented in the autonomously controlled aerial vehicle configured to perform a method comprising:
• capturing, via an imaging device of the autonomously controlled aerial vehicle, a first image at a first location;
• recognizing a first fiducial at a first scale of a multi-scale fiducial depicted within the first image;
• piloting the autonomously controlled aerial vehicle toward a first portion of the multi-scale fiducial based at least in part on information contained within the first fiducial;
• capturing, via the imaging device, a second image at a second location;
• recognizing a second fiducial at a second scale of the multi-scale fiducial, the second fiducial being depicted within the second image;
• and
• piloting the autonomously controlled aerial vehicle toward a second portion of the multi-scale fiducial in a different direction based at least in part on information contained in the second fiducial.

A method, comprising:

• capturing, via an imaging device of an autonomously controlled aerial vehicle, a first image at a first location;
• recognizing, via control logic of the autonomously controlled aerial vehicle, a first fiducial at a first scale of a multi-scale fiducial depicted within the first image;
• piloting the autonomously controlled aerial vehicle toward a first portion of the multi-scale fiducial based at least in part on information contained within the first fiducial;
• capturing, via the imaging device, a second image at a second location;
• recognizing, via the control logic, a second fiducial at a second scale of the multi-scale fiducial, the second fiducial being depicted within the second image;
• and
• piloting, via the control logic, the autonomously controlled aerial vehicle toward a second portion of the multi-scale fiducial in a different direction based at least in part on information contained in the second fiducial.

A method, comprising:

• capturing, via an imaging device of an autonomously controlled aerial vehicle, a first image at a first location;
• recognizing, via control logic of the autonomously controlled aerial vehicle, a first fiducial at a first scale of a multi-scale fiducial depicted within the first image, wherein recognizing the first fiducial further comprises actively ignoring data from the first image corresponding to an expected location of a second fiducial;
• piloting the autonomously controlled aerial vehicle relative to the multi-scale fiducial based at least in part on information contained within the first fiducial;
• capturing, via the imaging device, a second image at a second location;
• recognizing, via the control logic, the second fiducial at a second scale of the multi-scale fiducial, the second fiducial being depicted within the second image;
• and
• performing, via the control logic, an action based at least in part on information contained in the second fiducial.