An unmanned aerial vehicle (UAV) navigation system is configured to automatically identify a suitable UAV landing site, e.g., in a forced landing (e.g., emergency) scenario. In some examples, the system receives two or more overlay images depicting a landscape under an unmanned aerial vehicle (UAV) in flight; generating a depth map of the landscape based on the two or more overlapping images; identifying a region of the landscape having a depth variance below a threshold based on the depth map; determining, for each of the regions of the landscape having a depth variance below a threshold, a landing zone quality score indicative of the depth variance and semantic type of the region of the landscape; identifying a suitable location for landing the UAV based on the landing zone mass score; and causing the UAV to automatically navigate toward and land on the suitable location.
本发明公开了一种无人飞行载具(UAV)导航系统,该导航系统被配置为例如在强制着陆(例如,紧急情况)场景中自动识别合适的UAV着陆地点。在一些示例中,该系统接收描绘飞行中的无人飞行载具(UAV)下方的景观的两个或更多个重叠图像;基于两个或更多个重叠图像生成景观的深度标测图;基于深度标测图来识别景观的具有低于阈值的深度方差的区域;针对景观的具有低于阈值的深度方差的区域中的每个区域,确定指示景观的区域的深度方差和语义类型的着陆区质量分数;基于着陆区质量分数来识别用于着陆UAV的合适位置;以及使UAV自动地朝向合适位置导航并着陆在该合适位置上。
Automatic safe landing location selection for unmanned flight systems
无人飞行系统的自动安全着陆地点选择
2022-04-22
Patent
Electronic Resource
Chinese
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