公开(公告)号：US10937325B2

公开(公告)日：2021-03-02

申请号：US16233245

申请日：2018-12-27

Applicant: Intel Corporation

Inventor： Daniel Pohl ,  Markus Achtelik ,  Bastian Jaeger ,  Andre Ryll ,  Jan Willem Vervoorst

IPC: G08G5/00 ,  G06T7/50 ,  B64C39/02 ,  G01S19/14 ,  G05D1/02 ,  G08G5/04

Abstract: According to various aspects, an obstacle map generator is provided, including: one or more processors configured to receive one or more depth images from a depth imaging system, determine, for each depth image of the one or more received depth images, a first set of pixels and a second set of pixels, each pixel of the first set of pixels has a depth value assigned thereto and each pixel of the second set of pixels has no depth value assigned thereto or has a depth value outside a predefined depth value range assigned thereto, assign a pre-defined depth value to one or more pixels of the second set of pixels, and generate an obstacle map based on the determined first set of pixels and the one or more pixels of the second set of pixels having the pre-defined depth value assigned thereto.

公开(公告)号：US11237572B2

公开(公告)日：2022-02-01

申请号：US16233236

申请日：2018-12-27

Applicant: Intel Corporation

Inventor： Andre Ryll ,  Daniel Pohl ,  Markus Achtelik ,  Bastian Jaeger ,  Jan Willem Vervoorst

IPC: G05D1/10 ,  G06T7/50 ,  B64C39/02 ,  B64D47/08 ,  G05D1/00

Abstract: According to various aspects, a collision avoidance method may include: receiving depth information of one or more depth imaging sensors of an unmanned aerial vehicle; determining from the depth information a first obstacle located within a first distance range and movement information associated with the first obstacle; determining from the depth information a second obstacle located within a second distance range and movement information associated with the second obstacle, the second distance range is distinct from the first distance range, determining a virtual force vector based on the determined movement information, and controlling flight of the unmanned aerial vehicle based on the virtual force vector to avoid a collision of the unmanned aerial vehicle with the first obstacle and the second obstacle.