Verity Ag

Luciano Beffa

Markus Florian Hehn

Fabio Rossetto

The invention relates to a method for controlling a light source (), the method using (a) at least one pose estimate () of a camera () configured to capture one or more images of a scene of interest () which comprises at least one landmark (), as said light source is operated to emit light which illuminates said scene of interest, (b) a landmark map () comprising at least 3D location information of a plurality of landmarks comprising the at least one landmark in the scene of interest, (c) an illumination model () describing a relationship between an emission illumination power and reflection illumination power, wherein said emission illumination power is the power of light emitted by the light source () to illuminate said scene of interest, and said reflection illumination power is the illumination power of light reflected by one or more landmarks in said scene of interest and received by the camera, and (d) a predefined threshold reflection illumination power (). The method comprises the following steps: (a) determining (), for at least one of the plurality of landmarks, at least one optimized emission illumination power of light () to be emitted by the light source, and an illumination time course () during which the light source should be operated to emit light which has an emission illumination power which is equal to the at least one optimized emission illumination power, using (i) the at least one pose estimate () of the camera, (ii) the 3D location information of the at least one of the plurality of landmarks, (iii) the illumination model (), and (iv) the predefined threshold reflection illumination power (); and (b) operating the light source () to emit light which has an emission illumination power which is equal to the at least one optimized emission illumination power (), for a time period which is equal to the determined illumination time course ().

System and method for controlling a light source for illuminating a scene of interest

According to the present invention there is provide a method a method for matching features in an image with landmark representations in a landmark map, the method comprising: providing at least one image; extracting from the image one or more features; providing a landmark map comprising a list of landmark representations, wherein each landmark representation is a representation of a respective physical landmark; creating a plurality of policies, each policy comprising at least one matching decision of the feature and the landmark representation, each matching decision having a stage cost; assigning a policy cost to each of the policies, wherein the policy cost is a function of the stage costs of the matching decisions the policy is comprised of; selecting from the collection of the policies the policy with the desired policy cost. There is further provided an assembly having a processor which is configured to carry out said method.

System and method for matching of image features with indistinguishable landmarks

According to the present invention there is provided a method of taking a measurement using a sensor mounted on an aerial vehicle, the aerial vehicle having one or more propellers and one or more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly, and a sensor mounted on the aerial vehicle, the method comprising the steps of, operating the one or more motors to drive the one or more propellers to cause the vehicle to fly; at a first time instant, slowing down or turning off said one or more motors; while the one or more motors are slowed down or turned off, taking a measurement using said sensor; at a second time instant, which is after the measurement has been taken using the sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly. There is further provided a corresponding aerial vehicle.

Methods of taking a measurement

The system receives position information in both an internal coordinate frame and an external coordinate frame. The system uses a comparison of position information in these frames to determine orientation information. The system determines one or more orientation hypotheses, and analyzes the position information based on these hypotheses. The system may include on-board accelerometers, gyroscopes, or both that provide the measurements in the internal coordinate frame. These measurements may be integrated or otherwise processed to determine position, velocity, or both. Measurements in the external frame are provided by GPS sensors or other positioning systems. Position information is transformed to a common coordinate frame, and an error metric is determined. Based on the error metric, the system estimates a likelihood metric for each hypothesis, and determines a resulting hypothesis based on the maximum likelihood or a combination of likelihoods.

Methods and systems for estimating the orientation of an object

An aerial vehicle and a method of taking a measurement using a sensor mounted on an aerial vehicle. The aerial vehicle has one or more propellers and one car more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly. A sensor is mounted on the aerial vehicle. The method includes operating the one or more motors to drive the one or more propellers to cause the vehicle to fly. At a first time instant, the one or more motors are slowed down or turned off. When the one or more motors are slowed down or turned off, a measurement is taken using the sensor; at a second time instant, which is after the measurement has been taken using sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly.

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Zurich, Switzerland

Luciano Beffa