公开(公告)号：US20190066522A1

公开(公告)日：2019-02-28

申请号：US15683240

申请日：2017-08-22

Applicant: QUALCOMM Incorporated

Inventor： Charles Wheeler SWEET III ,  Daniel Warren MELLINGER ,  John Anthony DOUGHERTY

IPC: G08G5/00 ,  G01S13/91 ,  G05D1/06

Abstract: Various embodiments include methods that may be implemented in a processor or processing device of an aerial robotic vehicle for generating three-dimensional terrain map based on the plurality of altitude above ground level values generated using visual-inertial odometry, and using such terrain maps to control the altitude of the aerial robotic vehicle. Some methods may include using the generated three-dimensional terrain map during landing. Such embodiment may further include refining the three-dimensional terrain map using visual-inertial odometry as the vehicle approaches the ground and using the refined terrain maps during landing. Some embodiments may include using the three-dimensional terrain map to select a landing site for the vehicle.