METHOD AND SYSTEM FOR INTERPRETING THE SURROUNDINGS OF A UAV
First Claim
Patent Images
1. A method comprising:
- acquiring an image (100) of an environment surrounding an unmanned aerial vehicle (UAV) with at least one sensor unit (61-66) of the UAV, the image comprising depth data from said sensor unit (61-66);
determining a boundary (115, 115′
) between a first image portion (111, 111′
) and a second image portion (121, 121′
), wherein said second image portion (121, 121′
) surrounds said first image portion (111, 111′
), said boundary (115, 115′
) being defined by an interface between first periphery sub-portions (112, 112′
) of said first image portion and second periphery sub-portions (122, 122′
) of said second image portion when a difference in depth data between adjacent said first periphery sub-portions (112) and said second periphery sub-portions (122) is above a first predetermined threshold and/or when said second periphery sub-portions (122′
) comprise undefined depth data;
determining an area of the first image portion (111, 111′
); and
if the area of the first image portion (111, 111′
) is below a second predetermined threshold, determining that the first image portion (111, 111′
) contains incorrect depth data and deleting and/or adjusting the incorrect depth data contained by said first image portion (111, 111′
).
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Accused Products
Abstract
A method for improving the interpretation of the surroundings of a UAV, and to a UAV system is presented herein. The method comprises the steps of acquiring an image comprising depth data, and determining a boundary between a first image portion and a second image portion. The second image portion surrounds the first image portion, and the boundary is defined by an interface between first periphery sub-portions and second periphery sub-portions. A difference in depth data between adjacent first periphery sub-portions and second periphery sub-portions is above a first predetermined threshold and/or second periphery sub-portions comprises undefined depth data. The method further comprises determining the area of the first image portion, and if the area of the first image portion is below a second predetermined threshold, determining that the first image portion contains incorrect depth data and deleting and/or adjusting the incorrect depth data contained by the first image portion.
3 Citations
19 Claims
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1. A method comprising:
-
acquiring an image (100) of an environment surrounding an unmanned aerial vehicle (UAV) with at least one sensor unit (61-66) of the UAV, the image comprising depth data from said sensor unit (61-66); determining a boundary (115, 115′
) between a first image portion (111, 111′
) and a second image portion (121, 121′
), wherein said second image portion (121, 121′
) surrounds said first image portion (111, 111′
), said boundary (115, 115′
) being defined by an interface between first periphery sub-portions (112, 112′
) of said first image portion and second periphery sub-portions (122, 122′
) of said second image portion when a difference in depth data between adjacent said first periphery sub-portions (112) and said second periphery sub-portions (122) is above a first predetermined threshold and/or when said second periphery sub-portions (122′
) comprise undefined depth data;determining an area of the first image portion (111, 111′
); andif the area of the first image portion (111, 111′
) is below a second predetermined threshold, determining that the first image portion (111, 111′
) contains incorrect depth data and deleting and/or adjusting the incorrect depth data contained by said first image portion (111, 111′
). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An unmanned aerial vehicle (UAV) system comprising:
-
a UAV (1) comprising at least one sensor unit (61-66) configured to capture an image (100) of a surrounding environment; and a control unit (4) configured for processing said image (100), said control unit (4) being configured to; acquire said image (100) comprising depth data from said sensor unit (61-66); determine a boundary (115, 115′
) between a first image portion (111, 111′
) and a second image portion (121, 121′
), wherein said second image portion (121, 121′
) surrounds said first image portion (111, 111′
), said boundary (115, 115′
) being defined by an interface between first periphery sub-portions (112, 112′
) of said first image portion and second periphery sub-portions (122, 122′
) of said second image portion, when a difference in depth data between adjacent said first periphery sub-portions (112) and said second periphery sub-portions (122) is above a first predetermined threshold and/or when said second periphery sub-portions (122′
) comprises undefined depth data;determine an area of the first image portion (111, 111′
); andif the area of the first image portion (111, 111′
) is below a second predetermined threshold, determine that the first image portion (111, 111′
) contains incorrect depth data and delete and/or adjust the incorrect depth data contained by said first image portion (111, 111′
). - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification
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Current AssigneeEverdrone, AB
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Original AssigneeEverdrone, AB
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InventorsDrejak, Maciek
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Granted Patent
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Time in Patent OfficeDays
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Field of Search
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US Class Current
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CPC Class CodesB64C 39/024 of the remote controlled ve...B64D 47/08 Arrangements of camerasB64U 2201/10 autonomous, i.e. by navigat...G06T 2207/10028 Range image; Depth image; 3...G06T 2207/30252 Vehicle exterior; Vicinity ...G06T 5/77 Retouching; Inpainting; Scr...G06T 7/11 Region-based segmentationG06T 7/55 from multiple imagesG06V 10/98 Detection or correction of ...G06V 20/13 Satellite imagesG06V 20/17 taken from planes or by dronesG08G 5/0073 Surveillance aids scene ima...
