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.
Controlling Landings of an Aerial Robotic Vehicle Using Three-Dimensional Terrain Maps Generated Using Visual-Inertial Odometry
2019-02-28
Patent
Electronic Resource
English
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