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.


    Access

    Download


    Export, share and cite



    Title :

    Controlling Landings of an Aerial Robotic Vehicle Using Three-Dimensional Terrain Maps Generated Using Visual-Inertial Odometry



    Publication date :

    2019-02-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    CONTROLLING LANDINGS OF AN AERIAL ROBOTIC VEHICLE USING THREE-DIMENSIONAL TERRAIN MAPS GENERATED USING VISUAL-INERTIAL ODOMETRY

    SWEET III CHARLES WHEELER / MELLINGER III DANIEL WARREN / DOUGHERTY JOHN ANTHONY | European Patent Office | 2019

    Free access

    Visual-Inertial Odometry for Unmanned Aerial Vehicle using Deep Learning

    Lee, Hongyun / McCrink, Matthew / Gregory, James W. | AIAA | 2019


    Stereo Visual Inertial Odometry for Unmanned Aerial Vehicle Autonomous Flight

    Liu, Quanpan / Wang, Zhengjie / Wang, Huan | Springer Verlag | 2019


    Reliability of visual inertial odometry on an unmanned aerial vehicle

    Setati Tiro / Maweni Thabisa / Botha Natasha | DOAJ | 2023

    Free access

    Stereo Visual Inertial Odometry for Unmanned Aerial Vehicle Autonomous Flight

    Liu, Quanpan / Wang, Zhengjie / Wang, Huan | British Library Conference Proceedings | 2020