US 10,769,957 B2 · Systems and methods for vehicle guidance

Abstract

This disclosure relates to systems and methods for vehicle guidance. Stereo images may be obtained at different times using a stereo image sensor. A depth image may be determined based on an earlier obtained pair of stereo images. The depth image may be refined based on predictions of an earlier stereo image and a later obtained stereo image. Depth information for an environment around a vehicle may be obtained. The depth information may characterize distances between the vehicle and the environment around the vehicle. A spherical depth map may be generated from the depth information. Maneuver controls for the vehicle may be provided based on the spherical depth map.

Claims20

Dependent claims

An unmanned aerial vehicle, the unmanned aerial vehicle comprising:

a sensor generating visual information from an environment around the unmanned aerial vehicle;
and
a processing apparatus coupled to a memory storing instructions that when executed causes the processing apparatus to:
generate a spherical depth map from depth information associated with the environment, the spherical depth map representing distances to closest surfaces of the environment around the unmanned aerial vehicle as a function of longitude angles and latitude angles, the spherical depth map being divided into map cells corresponding to the longitude angles and the latitude angles, the map cells including a first map cell corresponding to a first longitude angle and a first latitude angle;
and
provide maneuver controls for the unmanned aerial vehicle based on the spherical depth map.

3 more elements

A method for collision avoidance of an unmanned aerial vehicle, the method comprising:

generating visual information from an environment around the unmanned aerial vehicle;
generating a spherical depth map from depth information associated with the environment, the spherical depth map representing distances to closest surfaces of the environment around the unmanned aerial vehicle as a function of longitude angles and latitude angles, the spherical depth map being divided into map cells corresponding to the longitude angles and the latitude angles, the map cells including a first map cell corresponding to a first longitude angle and a first latitude angle;
and
providing maneuver controls for the unmanned aerial vehicle based on the spherical depth map.

1 more element

Dependencies are inferred from the claim text.

Systems and methods for vehicle guidance

Life of this patent

Systems and methods for vehicle guidance

Life of this patent

Abstract

Claims20