# US 12,183,110 B2 · Autonomous aerial vehicle projection zone selection

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- Number: US 12,183,110 B2
- Document ID: US12183110B2
- Status: Granted
- Kind: B2
- Application number: 17/107,748
- Filed: 2020-11-30
- Published: 2022-06-02
- Granted: 2024-12-31
- Earliest claimed: 2020-11-30
- Assignees: AT&T Intellectual Property I, L.P.; AT&T Mobility II LLC
- Applicants: AT&T Intellectual Property I, L.P.; AT&T Mobility II LLC
- Inventors: Zhi Cui; Sangar Dowlatkhah; Sameena Khan; Troy Paige; Ari Craine; Robert Koch
- Web page: https://patentgrep.com/patent/US12183110B2

## CPC

- G06V 20/17: taken from planes or by drones
- G06V 40/103: {Static body considered as a whole, e.g. static pedestrian or occupant recognition}
- B64U 10/13: Flying platforms
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672)
- G06V 10/764: using classification, e.g. of video objects
- B64U 2101/30: for imaging, photography or videography
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- G06V 20/53: {Recognition of crowd images, e.g. recognition of crowd congestion}
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A processing system of an autonomous aerial vehicle including at least one processor may determine informational data to present for at least one person, capture at least a first image via at least one imaging sensor of the autonomous aerial vehicle in a vicinity of the at least one person and determine a first position and a first orientation of the at least one person. The processing system may then identify, based upon the first position and the first orientation of the at least one person, a plurality of candidate projection areas, each candidate projection area comprising a contiguous area within the at least the first image that is deemed to be visible to the at least one person, select one of the plurality of candidate projection areas as a projection zone, and project the informational data on the projection zone via a projector.

## Claims

### Claim 1

A method comprising:
determining, by a processing system of an autonomous aerial vehicle, informational data to present for at least one person within a group of people;
capturing, by the processing system, at least a first image via at least one imaging sensor of the autonomous aerial vehicle in a vicinity of the at least one person;
determining, by the processing system, a first position of a plurality of positions and a first orientation of a plurality of orientations of the at least one person, wherein the determining the first position and the first orientation of the at least one person comprises determining the plurality of positions and the plurality of orientations of people within the group, wherein the plurality of positions is determined from location information from a network-based system that maintains location information of user devices associated with the people within the group, and wherein the plurality of orientations is determined from the at least the first image;
identifying, by the processing system based upon the first position and the first orientation of the at least one person, a plurality of candidate projection areas, each candidate projection area comprising a contiguous area within the at least the first image that is deemed to be visible to the at least one person in accordance with the first position and the first orientation;
selecting, by the processing system, one of the plurality of candidate projection areas as a projection zone in accordance with a plurality of factors, wherein the plurality of factors comprises: a number of people within the group to whom the one of the plurality of candidate projection areas is deemed to be visible in accordance with the plurality of positions and the plurality of orientations and a measure of at least one surface characteristic of the one of the plurality of candidate projection areas; and
projecting, by the processing system, the informational data on the projection zone via a projector.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
identifying, based upon the first position and the first orientation of the at least one person, a projection search space, the projection search space comprising an area that is captured in the at least the first image, that is within range of the projector of the autonomous aerial vehicle, and that is deemed to be visible to the at least one person.

### Claim 3 (depends on 1)

The method of claim 1, further comprising:
determining an orientation to display the informational data in the projection zone, based upon a location of the projection zone, the first position, and the first orientation.

### Claim 4 (depends on 1)

The method of claim 1, wherein the informational data comprises directional information.

### Claim 5 (depends on 1)

The method of claim 1, wherein the informational data comprises a safety message.

### Claim 6 (depends on 1)

The method of claim 1, wherein the group of people is predefined, or the group of people is detected by the processing system via at least one of: the at least one imaging sensor or via at least one other sensor of the autonomous aerial vehicle.

### Claim 7 (depends on 6)

The method of claim 6, wherein the identifying the plurality of candidate projection areas is based upon the plurality of positions and the plurality of orientations of the people within the group, wherein each candidate projection area is deemed to be visible to at least one of the people within the group.

### Claim 8 (depends on 7)

The method of claim 7, wherein the plurality of factors further comprises:
a size of the one of the plurality of projection areas.

### Claim 9 (depends on 1)

The method of claim 1, wherein the plurality of factors further comprises:
a range of the one of the plurality of candidate projection areas with respect to the projector of the autonomous aerial vehicle.

### Claim 10 (depends on 1)

The method of claim 1, wherein the plurality of candidate projection areas includes at least one of:
a ground surface candidate projection area; or
a non-ground surface candidate projection area.

### Claim 11 (depends on 1)

The method of claim 1, further comprising:
capturing at least a second image via the at least one imaging sensor of the autonomous aerial vehicle;
determining a second position and a second orientation of the at least one person;
identifying, based upon the second position and the second orientation of the at least one person, a second plurality of candidate projection areas deemed to be visible to the at least one person;
selecting one of the second plurality of candidate projection areas as a second projection zone; and
projecting the informational data on the second projection zone.

### Claim 12 (depends on 11)

The method of claim 11, wherein the second projection zone is of at least one of:
a different size from a size of the first projection zone;
a different shape from a shape of the first projection zone; or
a different orientation from an orientation of the first projection zone.

### Claim 13 (depends on 1)

The method of claim 1, further comprising:
detecting at least one item of interest in the first projection zone; and
illuminating the at least one item of interest via at least one lighting unit of the autonomous aerial vehicle.

### Claim 14 (depends on 13)

The method of claim 13, wherein the detecting the at least one item of interest comprises detecting an outline of the at least one item of interest, and wherein the illuminating comprises highlighting the outline of the at least one item of interest via the at least one lighting unit.

### Claim 15

A non-transitory computer-readable medium storing instructions which, when executed by a processing system of an autonomous aerial vehicle including at least one processor, cause the processing system to perform operations, the operations comprising:
determining informational data to present for at least one person within a group of people;
capturing at least a first image via at least one imaging sensor of the autonomous aerial vehicle in a vicinity of the at least one person;
determining a first position of a plurality of positions and a first orientation of a plurality of orientations of the at least one person, wherein the determining the first position and the first orientation of the at least one person comprises determining the plurality of positions and the plurality of orientations of people within the group, wherein the plurality of positions is determined from location information from a network-based system that maintains location information of user devices associated with the people within the group, and wherein the plurality of orientations is determined from the at least the first image;
identifying, based upon the first position and the first orientation of the at least one person, a plurality of candidate projection areas, each candidate projection area comprising a contiguous area within the at least the first image that is deemed to be visible to the at least one person in accordance with the first position and the first orientation;
selecting one of the plurality of candidate projection areas as a projection zone in accordance with a plurality of factors, wherein the plurality of factors comprises: a number of people within the group to whom the one of the plurality of candidate projection areas is deemed to be visible in accordance with the plurality of positions and the plurality of orientations and a measure of at least one surface characteristic of the one of the plurality of candidate projection areas; and
projecting the informational data on the projection zone via a projector.

### Claim 16

An apparatus comprising:
a processing system including at least one processor of an autonomous aerial vehicle; and
a computer-readable medium storing instructions which, when executed by the processing system, cause the processing system to perform operations, the operations comprising:
determining informational data to present for at least one person within a group of people;
capturing at least a first image via at least one imaging sensor of the autonomous aerial vehicle in a vicinity of the at least one person;
determining a first position of a plurality of positions and a first orientation of a plurality of orientations of the at least one person, wherein the determining the first position and the first orientation of the at least one person comprises determining the plurality of positions and the plurality of orientations of people within the group, wherein the plurality of positions is determined from location information from a network-based system that maintains location information of user devices associated with the people within the group, and wherein the plurality of orientations is determined from the at least the first image;
identifying, based upon the first position and the first orientation of the at least one person, a plurality of candidate projection areas, each candidate projection area comprising a contiguous area within the at least the first image that is deemed to be visible to the at least one person in accordance with the first position and the first orientation;
selecting one of the plurality of candidate projection areas as a projection zone in accordance with a plurality of factors, wherein the plurality of factors comprises: a number of people within the group to whom the one of the plurality of candidate projection areas is deemed to be visible in accordance with the plurality of positions and the plurality of orientations and a measure of at least one surface characteristic of the one of the plurality of candidate projection areas; and
projecting the informational data on the projection zone via a projector.

### Claim 17 (depends on 16)

The apparatus of claim 16, wherein the operations further comprise:
identifying, based upon the first position and the first orientation of the at least one person, a projection search space, the projection search space comprising an area that is captured in the at least the first image, that is within range of the projector of the autonomous aerial vehicle, and that is deemed to be visible to the at least one person.

### Claim 18 (depends on 16)

The apparatus of claim 16, wherein the operations further comprise:
determining an orientation to display the informational data in the projection zone, based upon a location of the projection zone, the first position, and the first orientation.

### Claim 19 (depends on 16)

The apparatus of claim 16, wherein the informational data comprises directional information.

### Claim 20 (depends on 16)

The apparatus of claim 16, wherein the informational data comprises a safety message.