公开(公告)号：EP2558817A4

公开(公告)日：2018-01-31

申请号：EP10857987

申请日：2010-09-30

申请人： EMPIRE TECH DEVELOPMENT LLC

发明人： KRUGLICK EZEKIEL

IPC分类号： G01C11/02 ,  B64C13/20 ,  G01C21/00 ,  G05D1/04

CPC分类号： B64C39/024 ,  B64C19/00 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/101 ,  G06T17/05 ,  G06T17/10 ,  G06T2210/21 ,  G06T2210/61

摘要： Technologies are generally described for controlling a flight path of a UAV based image capture system for solid modeling. Upon determining an initial movement path based on an estimate of a structure to be modeled, images of the structure to be modeled may be captured and surface hypotheses formed for unobserved surfaces based on the captured images. A normal vector and a viewing cone may be computed for each hypothesized surface. A set of desired locations may be determined based on the viewing cones for the entire structure to be modeled and a least impact path for the UAV determined based on the desired locations and desired flight parameters.