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公开(公告)号：US20170193830A1
公开(公告)日：2017-07-06
申请号：US15394647
申请日：2016-12-29
Applicant: California Institute of Technology
Inventor： Anthony T. S. Fragoso , Larry H. Matthies , Roland Brockers , Richard M. Murray
Abstract: A method, device, framework, and system provide the ability to control an unmanned aerial vehicle (UAV) to avoid obstacle collision. Range data of a real-world scene is acquired using range sensors (that provide depth data to visible objects). The range data is combined into an egospace representation (consisting of pixels in egospace). An apparent size of each of the visible objects is expanded based on a dimension of the UAV. An assigned destination in the real world scene based on world space is received and transformed into egospace coordinates in egospace. A trackable path from the UAV to the assigned destination through egospace that avoids collision with the visible objects (based on the expanded apparent sizes of each of the visible objects) is generated. Inputs that control the UAV to follow the trackable path are identified.
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公开(公告)号：US10665115B2
公开(公告)日：2020-05-26
申请号：US15394647
申请日：2016-12-29
Applicant: California Institute of Technology
Inventor： Anthony T. S. Fragoso , Larry H. Matthies , Roland Brockers , Richard M. Murray
IPC: G08G5/00 , G01C21/00 , G08G5/04 , G06K9/00 , G06K9/62 , G05D1/10 , B64C39/02 , G01S17/933 , G01S17/89 , G01S17/86
Abstract: A method, device, framework, and system provide the ability to control an unmanned aerial vehicle (UAV) to avoid obstacle collision. Range data of a real-world scene is acquired using range sensors (that provide depth data to visible objects). The range data is combined into an egospace representation (consisting of pixels in egospace). An apparent size of each of the visible objects is expanded based on a dimension of the UAV. An assigned destination in the real world scene based on world space is received and transformed into egospace coordinates in egospace. A trackable path from the UAV to the assigned destination through egospace that avoids collision with the visible objects (based on the expanded apparent sizes of each of the visible objects) is generated. Inputs that control the UAV to follow the trackable path are identified.
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公开(公告)号：US11866198B2
公开(公告)日：2024-01-09
申请号：US16667655
申请日：2019-10-29
Applicant: California Institute of Technology
Inventor： Roland Brockers , Stephan Michael Weiss , Danylo Malyuta , Christian Brommer , Daniel Robert Hentzen
IPC: B64F1/36 , B60L53/12 , B60L53/14 , B64C39/02 , G05D1/00 , B64F5/60 , B64D47/08 , B64U10/13 , B64U30/20 , B64U101/00 , B64U101/30
CPC classification number: B64F1/362 , B60L53/12 , B60L53/14 , B64C39/024 , B64D47/08 , B64F5/60 , G05D1/0088 , B60L2200/10 , B64U10/13 , B64U30/20 , B64U2101/00 , B64U2101/30 , B64U2201/10
Abstract: A method and system provide the ability to autonomously operate an unmanned aerial system (UAS) over long durations of time. The UAS vehicle autonomously takes off from a take-off landing-charging station and autonomously executes a mission. The mission includes data acquisition instructions in a defined observation area. Upon mission completion, the UAS autonomously travels to a target landing-charging station and performs an autonomous precision landing on the target landing-charging station. The UAS autonomously re-charges via the target landing-charging station. Once re-charged, the UAS is ready to execute a next sortie. When landed, the UAS autonomously transmits mission data to the landing-charging station for in situ or cloud-based data processing.
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Patent Agency Ranking
公开(公告)号：US20190037207A1
公开(公告)日：2019-01-31
申请号：US16049309
申请日：2018-07-30
Applicant: California Institute of Technology
Inventor： Roland Brockers , Curtis W. Padgett
IPC: H04N13/296 , G06F1/12 , H04N13/239 , G06T7/73 , B64C39/02 , B64D47/08 , B63B49/00
Abstract: A method, apparatus, and system provide for three-dimensional (3D) image reconstructing. Two or more cameras are mounted to one or more vehicles. The cameras are capable of moving with respect to each other. A baseline distance between each of the cameras is determined. A two-dimensional (2D) image is simultaneously acquired from each of the cameras. The acquiring is time synchronized and the vehicles are moving during the acquiring. The 2D images from the two or more cameras are matched. A delta pose between the cameras is reconstructed based on the matching and baseline distance. Based on the delta pose, a 3D image is instantaneously constructed.
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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
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.
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公开(公告)号：US20230360547A1
公开(公告)日：2023-11-09
申请号：US18312444
申请日：2023-05-04
Applicant: California Institute of Technology
Inventor： Roland Brockers , Friedrich Alexander Dietsche , Jeff Hugues Luc Delaune , Pedro Proença , Robert Alexander Hewitt , Georgios Georgakis
CPC classification number: G08G5/0069 , G06V20/17
Abstract: A method and system provide for on-board localization in a unmanned aerial system (UAS). A map image if generated (using previously acquired images) of an area that the UAS is overflying. The map image is then processed by orthorectifying, referencing the map image in a global reference frame, and generating an abstract map by detecting features and locating the features in the global reference frame. The UAS is then localized by acquiring camera images during flight, selecting a subset of the camera images as localization images, detecting on-board image features (in the localization images), mapping features from the detected on-board image features to the abstract map, deleting outliers to determine an estimated 3D pose, and refining the 3D pose. The localized UAS then used to autonomously navigate the UAS.
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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
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.
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公开(公告)号：US10721461B2
公开(公告)日：2020-07-21
申请号：US16049309
申请日：2018-07-30
Applicant: California Institute of Technology
Inventor： Roland Brockers , Curtis W. Padgett
IPC: H04N13/296 , G06F1/12 , H04N13/239 , G06T7/73 , B64C39/02 , B64D47/08 , B63B49/00 , H04N13/246 , H04N13/117 , G06T7/593 , H04N13/00
Abstract: A method, apparatus, and system provide for three-dimensional (3D) image reconstructing. Two or more cameras are mounted to one or more vehicles. The cameras are capable of moving with respect to each other. A baseline distance between each of the cameras is determined. A two-dimensional (2D) image is simultaneously acquired from each of the cameras. The acquiring is time synchronized and the vehicles are moving during the acquiring. The 2D images from the two or more cameras are matched. A delta pose between the cameras is reconstructed based on the matching and baseline distance. Based on the delta pose, a 3D image is instantaneously constructed.
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