A method for controlling an unmanned aerial vehicle (UAV) includes receiving first sensor data relative to a first coordinate system and second sensor data relative to a second coordinate system from a first sensor and a second sensor, respectively. The first and second sensor data includes first and second obstacle occupancy information indicative of relative locations of a first and a second sets of obstacles in reference to the UAV in the first and second coordinate systems, respectively. The first and second sets of obstacles have at least a subset of obstacles in common. The method further includes converting the first and second sensor data into a single coordinate system using sensor calibration data to generate an obstacle occupancy grid map based on the first and second obstacle occupancy information, and effecting the UAV to navigate using the obstacle occupancy grid map to perform obstacle avoidance.


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    Titel :

    MULTI-SENSOR ENVIRONMENTAL MAPPING


    Beteiligte:
    LIU ANG (Autor:in) / MO WEIYU (Autor:in) / LING YONGGEN (Autor:in)

    Erscheinungsdatum :

    2020-05-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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