SELECTIVE PROCESSING OF SENSOR DATA

• US 20170364095A1
• Filed: 08/30/2017
• Published: 12/21/2017
• Est. Priority Date: 12/31/2014
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: WANG, Tao, YAN, Jiaqi
• Granted Patent: US 10,802,509 B2
• Time in Patent Office: Days
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/19 for use as targets or decoys
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/31 for surveillance
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: G01C 11/34 Aerial triangulation
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/248 by interactive preprocessing or interactive shape modelling, e.g. feature points assigned by a user
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 23/76 by influencing the image signals
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources
• CPC Class Codes: H04N 7/185 : from a mobile camera, e.g. for remote control

Abstract

Systems and methods for navigating a vehicle within an environment are provided. In one aspect, a method comprises: (a) selecting, with aid of a processor, a subset of a plurality of sensors to be used for navigating the vehicle within the environment based on one or more predetermined criteria, wherein the plurality of sensors are arranged on the vehicle such that each sensor of the plurality of sensors is configured to obtain sensor data from a different field of view; (b) processing, with aid of the processor, the sensor data from the selected sensor(s) so as to generate navigation information for navigating the vehicle within the environment; and (c) outputting, with aid of the processor, signals for controlling the vehicle based on the navigation information.

Claims

1. A system for navigating a vehicle within an environment, comprising:

a plurality of sensors arranged on the vehicle such that each sensor of said plurality of sensors is configured to obtain sensor data from a different field of view; and

one or more processors operably coupled to the plurality of sensors and individually or collectively configured to;

select a subset of sensors from said plurality of sensors to be used for navigating the vehicle within the environment based on one or more predetermined criteria;

process the sensor data from only the selected subset of sensors so as to generate navigation information for navigating the vehicle within the environment; and

output control signals for controlling the vehicle based on the navigation information.

2. The system of claim 1, wherein the one or more processors are configured to select the subset of sensors based on an assessment of whether sensor data quality of each sensor of said plurality meets the one or more predetermined criteria, wherein the selected subset of sensors includes one or more sensors that meets the one or more predetermined criteria.

3. The system of claim 1, wherein the one or more processors are configured to determine state information of the vehicle without using sensor data obtained from one or more sensors that are not within the selected subset of sensors.

4. The system of claim 3, wherein the state information comprises at least one of a position, an attitude, a velocity, or an acceleration of the vehicle.

5. The system of claim 3, wherein the one or more processors are further configured to output the control signals to one or more propulsion units of the vehicle for effecting motion of the vehicle, based on the state information of the vehicle and the navigation information.

6. The system of claim 1, wherein the plurality of sensors comprise a plurality of imaging devices that are located at three or more of the following locations:

a front side, rear side, left side, right side, upper side, or lower side of the vehicle.

7. The system of claim 1, wherein the one or more predetermined criteria comprises whether an orientation each sensor of said plurality of sensors is substantially along a direction of motion of the vehicle.

8. The system of claim 1, wherein the one or more predetermined criteria comprises whether sensor data quality of each sensor of said plurality of sensors exceeds a predetermined threshold, and which of said plurality of sensors has the highest sensor data quality.

9. The system of claim 1, wherein the one or more predetermined criteria comprises whether power consumption of each sensor of said plurality of sensors is below a predetermined threshold, and which of said plurality of sensors has the lowest power consumption.

10. The system of claim 1, wherein the one or more processors are configured to modify a number of sensors in the selected subset based on a direction of motion of the vehicle and/or environmental complexity.

12. The method of claim 1, wherein the selecting of the subset of sensors comprises assessing whether sensor data quality of each sensor of said plurality meets the one or more predetermined criteria, and selecting one or more sensors that meets the one or more predetermined criteria to be included in the subset of sensors.

13. The method of claim 10, further comprising determining state information of the vehicle without using sensor data obtained from one or more sensors that are not within the selected subset of sensors.

14. The method of claim 13, wherein the state information comprises at least one of a position, an attitude, a velocity, or an acceleration of the vehicle.

15. The method of claim 13, further comprising outputting the control signals to one or more propulsion units of the vehicle for effecting motion of the vehicle, based on the state information of the vehicle and the navigation information.

16. The method of claim 10, wherein the plurality of sensors comprise a plurality of imaging devices that are located at three or more of the following locations:

a front side, rear side, left side, right side, upper side, or lower side of the vehicle.

17. The method of claim 10, wherein the selecting of the subset of sensors based on the one or more predetermined criteria comprises determining whether an orientation each sensor of said plurality of sensors is substantially along a direction of motion of the vehicle.

18. The method of claim 10, wherein the selecting of the subset of sensors based on the one or more predetermined criteria comprises determining whether sensor data quality of each sensor of said plurality of sensors exceeds a predetermined threshold, and which of said plurality of sensors has the highest sensor data quality.

19. The method of claim 10, wherein the selecting of the subset of sensors based on the one or more predetermined criteria comprises determining whether power consumption of each sensor of said plurality of sensors is below a predetermined threshold, and which of said plurality of sensors has the lowest power consumption.

20. The method of claim 10, further comprising modifying a number of sensors in the selected subset based on a direction of motion of the vehicle and/or environmental complexity.

11. A method for navigating a vehicle within an environment, comprising:

with aid of one or more processors individually or collectively;

selecting a subset of sensors from said plurality of sensors to be used for navigating the vehicle within the environment based on one or more predetermined criteria, wherein the plurality of sensors are arranged on the vehicle such that each sensor of said plurality of sensors is configured to obtain sensor data from a different field of view;

processing the sensor data from only the selected subset of sensors so as to generate navigation information for navigating the vehicle within the environment; and

outputting control signals for controlling the vehicle based on the navigation information.