Multi-scale fiducials
AssigneeAmazon Technologies, Inc.
InventorsCarl Ryan Kelso, Yves Christian Albers Schoenberg, James Yang
Life of this patent
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Abstract
Disclosed are various embodiments of a multi-scale fiducial. A multi-scale fiducial may have three or more scales, where the child fiducials are nested or otherwise linked by a relative position to the parent fiducials. Multi-scale fiducials may facilitate target identification and tracking at varying distances, potentially without the aid of a scale-invariant recognition algorithm. One application of multi-scale fiducials may involve target identification for autonomously controlled aerial vehicles.
Claims22
1-7. (canceled)
A multi-scale fiducial, comprising:
- a first fiducial at a first scale;
- a second fiducial at a second scale smaller than the first scale and linked to the first fiducial;
- and
- a third fiducial at a third scale smaller than the second scale and linked to the second fiducial.
17-20. (canceled)
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;
- and
- recognizing a first fiducial of a multi-scale fiducial depicted within the first image, wherein the multi-scale fiducial comprises:
- the first fiducial at a first scale;
- a second fiducial at a second scale smaller than the first scale and linked to the first fiducial;
- and
- a third fiducial at a third scale smaller than the second scale and linked to the second fiducial.
A method, comprising:
- capturing, via an imaging device of a computing device, a first image of a location at a first distance;
- recognizing, via the computing device, a second fiducial depicted within the first image, the second fiducial being a part of a multi-scale fiducial comprising:
- a first fiducial at a first scale;
- the second fiducial at a second scale smaller than the first scale and linked to the first fiducial;
- and
- a third fiducial at a third scale smaller than the second scale and linked to the second fiducial;
- and
- wherein the first fiducial is at least partially clipped by the first image.
Dependencies are inferred from the claim text.