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Scanning environments and tracking unmanned aerial vehicles

  • US 10,162,353 B2
  • Filed: 03/02/2016
  • Issued: 12/25/2018
  • Est. Priority Date: 03/03/2015
  • Status: Active Grant
First Claim
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1. A method, performed by a computing system having a memory and a processor, for planning a flight of an unmanned aerial vehicle in an environment, using a three-dimensional model of the environment, the method comprising:

  • providing, for presentation to a user, information characterizing a visual representation of the three-dimensional model of the environment, the environment including a plurality of objects;

    based on an input from the user, shifting a viewpoint from which the user views the visual representation of the three-dimensional model of the environment;

    receiving, from the user, input related to a proposed flight path for the unmanned aerial vehicle through the environment, wherein the input indicates one or more regions of interest;

    calculating a predicted trajectory of the unmanned aerial vehicle through the environment based at least in part on the received input, one or more constraints or capabilities for pointing a sensor of the unmanned aerial vehicle toward the one or more regions of interest, and flight dynamics and capabilities of the unmanned aerial vehicle;

    determining whether the calculated predicted trajectory of the unmanned aerial vehicle through the environment is free of collisions;

    if the calculated predicted trajectory is determined to be not free of collisions;

    providing feedback to the user that the calculated predicted trajectory of the unmanned aerial vehicle is not free of collisions; and

    preventing an area causing a collision from being included in subsequent calculation of predicted trajectory of the unmanned aerial vehicle; and

    causing the unmanned aerial vehicle to perform at least a portion of a flight based at least in part on the predicted trajectory.

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