Aerial drone utilizing pose estimation
AssigneeNEC Corporation
InventorsQuoc-Huy Tran, Manmohan Chandraker, Hyo Jin Kim
Life of this patent
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Abstract
A computer-implemented method, system, and computer program product are provided for a stabilization system utilizing pose estimation in an aerial drone. The method includes receiving, by a pose estimation system, a plurality of images from one or more cameras. The method also includes predicting, by the pose estimation system, a pose from the score map and a combined feature map, the combined feature map correlated from a pair of the plurality of images. The method additionally includes moving, by a propulsion system, the aerial drone responsive to the pose.
Claims18
An aerial drone utilizing pose estimation, the aerial drone comprising:
- one or more cameras;
- a propulsion system that moves the aerial drone;
- and
- a stabilization system that controls the propulsion system, the stabilization system includes a pose estimation system that receives a plurality of images from the one or more cameras and predicts a pose from a score map and a combined feature map, the combined feature map generated from a pair of the plurality of images, the pose estimation system including a pose estimation convolutional neural network (CNN) trained utilizing two-dimensional (2D) keypoint displacement loss employing Velodyne points.
A computer program product for a stabilization system utilizing pose estimation in an aerial drone, the computer program product comprising a non-transitory computer readable storage medium having program instructions embodied therewith, the program instructions executable by a computer to cause the computer to perform a method comprising:
- receiving, by a pose estimation system, a plurality of images from one or more cameras;
- predicting, by the pose estimation system, a pose from the score map and a combined feature map, the combined feature map correlated from a pair of the plurality of images, the pose estimation system including a pose estimation convolutional neural network (CNN) trained utilizing two-dimensional (2D) keypoint displacement loss employing Velodyne points;
- and
- moving, by a propulsion system, the aerial drone responsive to the pose.
A computer-implemented method for a stabilization system utilizing pose estimation in an aerial drone, the method comprising:
- receiving, by a pose estimation system, a plurality of images from one or more cameras;
- predicting, by the pose estimation system, a pose from the score map and a combined feature map, the combined feature map correlated from a pair of the plurality of images, the pose estimation system including a pose estimation convolutional neural network (CNN) trained utilizing two-dimensional (2D) keypoint displacement loss employing Velodyne points;
- and
- moving, by a propulsion system, the aerial drone responsive to the pose.
Dependencies are inferred from the claim text.