Control Point Identification System
AssigneeSkydio, Inc.
InventorsBernard J. Michini, Brett Michael Bethke, Hui Li
Life of this patent
Estimating the term…
Abstract
Aerial images captured by a first device are received. A landmark is identified in an aerial image of the aerial images. A determination is made, based on data in a data store, that the landmark is identified as a control point. Precise location information is associated with the control point in the data store. The precise location information indicates a location of a second device at a time that a third device that is different from the second device captured a prior image that includes the landmark. Imagery are generated using photogrammetry software based on the aerial image and the precise location information.
Claims21
1-20. (canceled)
A computer-implemented method, comprising:
- receiving first image data for a first image captured by an image-capture unmanned aerial vehicle at a first image timestamp and second image data for a second image captured by the image-capture unmanned aerial vehicle at a second image timestamp, the image-capture unmanned aerial vehicle hovering while capturing the first image and the second image, wherein the first image and the second image depict a same or similar field of view of an area;
- receiving location data for a precise-location vehicle moving within the area, the location data comprising a first precise location associated with the first image timestamp and a second precise location associated with the second image timestamp, the precise-location vehicle comprising a high precision, high accuracy satellite navigation receiver;
- identifying the precise-location vehicle in the first image at a first image location and in the second image at a second image location different from the first image location;
- and
- determining a scale associated with the first image and the second image based at least in part on the first image location, the second image location, the first precise location, and the second precise location.
A system, comprising:
- a memory;
- and
- one or more processors configured to execute instructions stored in the memory to:
- receive first and second images captured by an image-capture unmanned aerial vehicle while the image-capture unmanned aerial vehicle hovers, the first and second images depicting a same or similar field of view of an area;
- receive precise location data of a precise-location vehicle at first and second times corresponding to capture of the first and second images, the precise-location vehicle comprising a high precision, high accuracy satellite navigation receiver;
- identify the precise-location vehicle at a first image location in the first image and at a second image location in the second image;
- and
- determine a scale associated with the first and second images based at least in part on the first image location, the second image location, and the precise location data.
A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to:
- receive a sequence of images captured by an image-capture unmanned aerial vehicle while the image-capture unmanned aerial vehicle hovers, the sequence including first and second images depicting a same or similar field of view of an area;
- receive precise location data for a precise-location vehicle corresponding to capture times of the first and second images;
- identify the precise-location vehicle at different image locations in the first and second images;
- and
- determine a scale associated with the first and second images based at least in part on the different image locations and the precise location data.
Dependencies are inferred from the claim text.