公开(公告)号：US20250027777A1

公开(公告)日：2025-01-23

申请号：US18778787

申请日：2024-07-19

Applicant: California Institute of Technology

Inventor： Jeff H. Delaune ,  Roland Brockers ,  Robert A. Hewitt ,  David S. Bayard ,  Alejandro M. San Martin

IPC: G01C21/28 ,  G06T7/246 ,  G06T7/593 ,  G06T7/73

Abstract: A method to perform vision based navigation on a moving vehicle. An image processor receives reference images with associated depth information as base frames or search frames. 2D features are detected in base frames and tracked in subsequent search frames. A new base frame is triggered when a number of features or a spatial distribution fall under thresholds. A depth processor reconstructs the depth and 3D position of each of the 2D features. A track manager manages a feature list database mapping the 2D coordinates of each tracked 2D feature with the 3D coordinate of that feature. A state manager constructs a filter state vector with 15 error states propagated at an IMU rate and 6 additional error states corresponding to clones of pose states. A visual updater utilizes the tracked 2D feature coordinates to update the filter state vector. A filter forms residuals and corrects inertial error drift.

公开(公告)号：US20230245444A1

公开(公告)日：2023-08-03

申请号：US17740101

申请日：2022-05-09

Applicant: California Institute of Technology

Inventor： Roland Brockers ,  Pedro Duarte Lopes Mascarenhas Proença ,  Pascal Schoppmann ,  Matthias Domnik ,  Jeff H. Delaune

IPC: G06V20/17 ,  G06T15/00 ,  G06T17/05 ,  G06V10/80 ,  G01S19/47 ,  G01S19/48 ,  B64C39/02 ,  B64D45/04

CPC classification number: G06V20/17 ,  B64C39/024 ,  B64D45/04 ,  G01S19/47 ,  G01S19/485 ,  G06T15/00 ,  G06T17/05 ,  G06V10/803 ,  B64C2201/123 ,  G06T2200/08 ,  G06T2210/36

Abstract: A method, system, and apparatus for an unmanned aerial vehicle (UAV) to autonomously reconstruct overflown terrain and detect safe landing sites. A UAV autonomously acquires on-board pose estimates from an on-board visual-inertial-range odometry method during flight. The on-board pose estimates are utilized as a pose prior and to regain metric scale during three-dimensional (3D) reconstruction. The on-board pose estimates are corrected based on a bundle adjustment approach using previously acquired images. 3D reconstruction is performed based on multiple captured images taken from an on-board camera. Range data from the multiple captured images is fused into a multi-resolution height map. A safe landing site on the terrain is detected based on the multi-resolution height map.