Amazon Technologies, Inc.

Microsoft Technology Licensing, LLC

Andreas Klaus

Martin Josef Ponticelli

Konrad Karner

Stefan Bernögger

Helfried Tschemmernegg

Christian Neuner

Aerial vehicles that are equipped with one or more imaging devices may detect obstacles that are small in size, or obstacles that feature colors or textures that are consistent with colors or textures of a landing area, using pairs of images captured by the imaging devices. Disparities between pixels corresponding to points of the landing area that appear within each of a pair of the images may be determined and used to generate a reconstruction of the landing area and a difference image. If either the reconstruction or the difference image indicates the presence of one or more obstacles, a landing operation at the landing area may be aborted or an alternate landing area for the aerial vehicle may be identified accordingly.

Object detection and avoidance for aerial vehicles

Many imaging scenarios involve an achromatic image (e.g., a panchromatic image or a near-infrared image) and one or more concurrently captured monochromatic images (e.g., RGB images captured through a Bayer filter array), and the compositing of these images through de-mosaicing and/or pan-sharpening to generate a high-resolution color image. However, in many such scenarios, the monochromatic images may exhibit distortion of edge geometry, resulting in artifacts and/or color distortions near visual edges of the composite image. However, such distortions may be absent from the achromatic image, and edge geometry may be represented as an intensity gradient among respective neighborhoods of achromatic pixels. Presented herein are techniques for reducing such distortions in monochromatic images through iterative adjustment of monochromatic pixel intensity to reflect the gradients of the neighborhoods of the corresponding achromatic pixels. Convergence of such adjustments produces composite images exhibiting accurately reconstructed edge geometry.

Monochromatic edge geometry reconstruction through achromatic guidance

Growing community of inventors

Graz, Austria

Andreas Klaus