An aerial robot may include a distance sensor and visual inertial sensor. The aerial robot may determine a first height estimate of the aerial robot relative to a first region with a first surface level using data from the distance sensor. The aerial robot may fly over at least a part of the first region based on the first estimated height. The aerial robot may determine that it is in a transition region between the first region and a second region with a second surface level different from the first surface level. The aerial robot may determine a second height estimate of the aerial robot using data from a visual inertial sensor. The aerial robot may control its flight using the second height estimate in the transition region. In the second region, the aerial robot may revert to using the distance sensor in estimating the height.
PRECISION HEIGHT ESTIMATION USING SENSOR FUSION
2023-05-04
Patent
Electronic Resource
English