Adaptive motion filtering in an unmanned autonomous vehicle

An unmanned autonomous vehicle (UAV), comprising:

• an image sensor;
• an attitude sensor;
• and
• a processor coupled to the image sensor and the attitude sensor, and configured with processor-executable instructions to:
• capture an image by the image sensor;
• obtain attitude information of the UAV by the attitude sensor;
• determine a UAV motion mode based, at least in part, on the obtained attitude information;
• and
• execute yaw filtering on the image based, at least in part, on the determined UAV motion mode by:
• calculating an average yaw over a sliding window;
• calculating a standard deviation of the calculated average yaw;
• determining whether a yaw threshold is exceeded based, at least in part, on the calculated average yaw and the calculated standard deviation;
• modifying a yaw correction parameter based, at least in part, on the determination of whether the yaw threshold is exceeded;
• and
• executing a filter function using the yaw correction parameter.

An unmanned autonomous vehicle (UAV), comprising:

• means for capturing an image;
• means for obtaining attitude information of the UAV;
• means for determining a UAV motion mode based, at least in part, on the obtained attitude information;
• and
• means for executing yaw filtering on the image based, at least in part, on the determined UAV motion mode comprising:
• means for calculating an average yaw over a sliding window;
• means for calculating a standard deviation of the calculated average yaw;
• means for determining whether a yaw threshold is exceeded based, at least in part, on the calculated average yaw and the calculated standard deviation;
• means for modifying a yaw correction parameter based, at least in part, on the determination of whether the yaw threshold is exceeded;
• and
• means for executing a filter function using the yaw correction parameter.

A non-transitory processor-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of an unmanned autonomous vehicle (UAV) to perform operations comprising:

• capturing an image by an image sensor associated with the UAV;
• obtaining attitude information of the UAV by an attitude sensor of the UAV;
• determining a UAV motion mode based, at least in part, on the obtained attitude information;
• and
• executing yaw filtering on the image based, at least in part, on the determined UAV motion mode by:
• calculating an average yaw over a sliding window;
• calculating a standard deviation of the calculated average yaw;
• determining whether a yaw threshold is exceeded based, at least in part, on the calculated average yaw and the calculated standard deviation;
• modifying a yaw correction parameter based, at least in part, on the determination of whether the yaw threshold is exceeded;
• and
• executing a filter function using the yaw correction parameter.