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US 9,778,661 B2Granted
Selective processing of sensor data
AssigneeSz Dji Technology Co., Ltd.
InventorsTao Wang, Jiaqi Yan
Life of this patent
Estimating the term…
Abstract
Systems and methods for navigating a vehicle within an environment are provided. In one aspect, a method comprises: (a) selecting, with aid of a processor, a subset of a plurality of sensors to be used for navigating the vehicle within the environment based on one or more predetermined criteria, wherein the plurality of sensors are arranged on the vehicle such that each sensor of the plurality of sensors is configured to obtain sensor data from a different field of view; (b) processing, with aid of the processor, the sensor data from the selected sensor(s) so as to generate navigation information for navigating the vehicle within the environment; and (c) outputting, with aid of the processor, signals for controlling the vehicle based on the navigation information.
Claims25
A navigation system, comprising:
- one or more propulsion units configured to effect movement of a vehicle and a plurality of sensors each configured to capture a plurality of sensor data, wherein the plurality of sensors comprise a plurality of imaging devices each configured to capture a plurality of images;
- and
- one or more processors operably coupled to the plurality of sensors and individually or collectively configured to:
- assess data quality of the plurality of sensor data from each of the plurality of sensors, wherein the data quality is assessed based on a feature point number of each image captured by said plurality of imaging devices, wherein said feature point number of each image is calculated using a corner detection algorithm that is a Features from Accelerated Segmented Test (FAST) algorithm;
- select at least one of the plurality of sensors based on the assessed data quality;
- and
- determine state information for the vehicle using the plurality of sensor data from the selected sensor(s), wherein the state information of the vehicle comprises information about an environment surrounding the vehicle.
4 more elements
A navigation system, comprising:
- a plurality of imaging devices on a vehicle, wherein each imaging device is configured to capture a plurality of images, wherein the plurality of imaging devices comprise a primary imaging device and one or more secondary imaging devices;
- and
- one or more processors operably coupled to the plurality of imaging devices and individually or collectively configured to:
- (1) assess image quality of the plurality of images from the primary imaging device to determine whether said image quality meets a predetermined threshold, and (2) assess image quality of the plurality of images from the one or more secondary imaging devices if the image quality of the plurality of images from the primary imaging device does not meet the predetermined threshold, wherein the image quality of the plurality of images from the primary and/or secondary imaging devices are each assessed based on a feature point number of each image of said plurality of images, wherein said feature point number of each image is calculated using a corner detection algorithm that is a Features from Accelerated Segmented Test (FAST) algorithm;
- select at least one of the one or more secondary imaging devices based on the assessment of the image quality of the plurality of images from the one or more secondary imaging devices;
- and
- determine state information for the vehicle using the plurality of images from the selected secondary imaging device(s), wherein the state information of the vehicle comprises information about an environment surrounding the vehicle.
4 more elements
A method for controlling a moving vehicle operably coupled thereto a plurality of imaging devices, comprising:
- capturing a plurality of images with each imaging device of the plurality of imaging devices;
- and
- with aid of one or more processors, individually or collectively,
- assessing image quality of the plurality of images from each imaging device, wherein the image quality is assessed based on a feature point number of each image captured by said plurality of imaging devices, wherein said feature point number of each image is calculated using a corner detection algorithm that is a Features from Accelerated Segmented Test (FAST) algorithm;
- selecting at least one of the plurality of imaging devices based on the assessment of the image quality of the plurality of images;
- and
- determining state information for the vehicle using the plurality of images from the selected imaging device(s), wherein the state information of the vehicle comprises information about an environment surrounding the vehicle.
4 more elements
A method for assessing state information of a moving vehicle attached thereto a plurality of imaging devices, comprising:
- capturing a plurality of images with each imaging device of the plurality of imaging devices, wherein the plurality of imaging devices comprises a primary imaging device and one or more secondary imaging devices;
- and
- with aid of one or more processors, individual or collectively,
- (1) assessing image quality of the plurality of images from the primary imaging device to determine whether said image quality meets a predetermined threshold, and (2) assessing image quality of the plurality of images from the one or more secondary imaging device if the image quality of the plurality of images from the primary imaging device does not meet the predetermined threshold, wherein the image quality of the plurality of images from the primary and/or secondary imaging devices are each assessed based on a feature point number of each image of said plurality of images, wherein the feature point number of each image is calculated using a corner detection algorithm that is a Features from Accelerated Segmented Test (FAST) algorithm;
- selecting at least one of the one or more secondary imaging devices based on the assessment of the image quality of the plurality of images from the one or more secondary imaging devices;
- and
- determining state information for the vehicle using the plurality of images from the selected secondary imaging device(s), wherein the state information of the vehicle comprises information about an environment surrounding the vehicle.
4 more elements
Dependencies are inferred from the claim text.