Aerial image collection

• US 10,168,698 B2
• Filed: 09/26/2017
• Issued: 01/01/2019
• Est. Priority Date: 03/05/2013
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Tillmann, Marco
• Primary Examiner(s): Nguyen, Nga X
• Application Number:
  US15/715,596
• Publication Number:
  US 20180024551A1
• Time in Patent Office: 462 Days
• Field of Search: 701 2- 3, 701 8, 701 24, 701300
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 10/17 Helicopters flying platforms B64U10/13
• CPC Class Codes: B64U 10/60 Tethered aircraft
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G01C 11/08 the pictures not being supported in the same relative position as when they were taken
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects

Abstract

In one embodiment, an aerial collection system includes an image collection field vehicle that travels at street level and an image collection aerial vehicle that travels in the air above the street. The aerial vehicle collects image data including at least a portion of the field vehicle. The field vehicle includes a marker, which is identified from the collected image data. The marker is analyzed to determine an operating characteristic of the aerial vehicle. In one example, the operating characteristic in the marker includes information for a flight instruction for the aerial vehicle. In another example, the operating characteristic in the marker includes information for the three dimensional relationship between the vehicles. The three dimensional relationship is used to combine images collected from the air and images collected from the street level.

Claims

1. A method comprising:

collecting, at an aerial vehicle, image data depicting a terrestrial vehicle comprising a marker encoded with data for a flight command;

analyzing the image data depicting the terrestrial vehicle comprising the marker for generating the flight command, wherein the flight command comprises instructions for a flight path of the aerial vehicle; and

applying, at the aerial vehicle, the flight path in response to the flight command.

2. The method of claim 1, wherein applying the flight path further comprises:

maintaining a distance between the aerial vehicle and the terrestrial vehicle in response to the flight command.

3. The method of claim 1, wherein applying the flight path further comprises:

providing an individual directional command to the aerial vehicle in response to the flight command.

4. The method of claim 1, wherein applying the flight path further comprises:

guiding the aerial vehicle toward the terrestrial vehicle in response to the flight command.

5. The method of claim 4, wherein the flight command is generated in response to a tunnel, overpass, or other obstruction.

6. The method of claim 1, wherein the flight command is encoded in the marker as a predetermined code.

7. The method of claim 6, wherein the predetermined code is a quick response (AR) code, a universal product code (UPC), an alphanumeric code, a hexadecimal code, a binary code, or a shape.

8. The method of claim 6, further comprising:

measuring an angle or a relative size of the code for an orientation or a spatial relationship of the terrestrial vehicle and the aerial vehicle.

9. The method of claim 1, wherein the the marker is displayed on an electronic display that changes in time.

10. The method of claim 1, wherein the flight command is based on a geographic position of the aerial vehicle.

11. The method of claim 1, wherein the flight command is included in a plurality of flight commands sequenced in time.

12. The method of claim 1, wherein the flight command instructs the aerial vehicle to fly at a specific altitude, instructs the aerial vehicle to fly at a specific distance from the terrestrial vehicle, or instructs the aerial vehicle to fly at a specific speed.

13. An apparatus comprising:

a camera of an aerial vehicle configured to collect image data depicting a terrestrial vehicle comprising a marker with data for a flight command; and

a controller configured to analyze the image data depicting the terrestrial vehicle comprising the marker for generating the flight command and select a flight path in response to the flight command.

14. The apparatus of claim 13, wherein the flight path maintains a distance between the aerial vehicle and the terrestrial vehicle.

15. The apparatus of claim 13, wherein the flight command includes an individual directional command including flying left or right or an obstacle command to avoid a tunnel, an overpass, or another obstruction.

16. The apparatus of claim 13, wherein the flight command is encoded in the marker as a predetermined code.

17. The apparatus of claim 16, wherein the controller is configured to measure an angle or a relative size of the predetermined code for an orientation or a spatial relationship of the terrestrial vehicle and the aerial vehicle.

18. The apparatus of claim 16, wherein the flight command is included in a plurality of flight commands sequenced in time.

19. A system comprising:

an electronic display of a terrestrial vehicle including images that comprise a marker, wherein the marker changes in time; and

an aerial vehicle controller configured to analyze image data depicting at least the marker of the electronic display of the terrestrial vehicle for generating the flight command and select a flight path for an aerial vehicle in response to the flight command.

20. The system of claim 19, further comprising:

a camera of the aerial vehicle configured to collect image data depicting the electronic display of the terrestrial vehicle.