The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 14, 2025
Filed:
Apr. 11, 2021
Applicant:
Brigham Young University, Provo, UT (US);
Inventors:
Assignee:
Attorneys:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G06T 7/246 (2016.12); B64D 47/08 (2005.12); B64U 20/87 (2022.12); G01C 21/20 (2005.12); G05D 1/00 (2023.12); G06T 7/277 (2016.12); G06T 7/73 (2016.12); G08G 5/00 (2005.12);
U.S. Cl.
CPC ...
G06T 7/248 (2016.12); B64D 47/08 (2012.12); B64U 20/87 (2022.12); G01C 21/20 (2012.12); G05D 1/101 (2012.12); G06T 7/251 (2016.12); G06T 7/277 (2016.12); G06T 7/73 (2016.12); G08G 5/0008 (2012.12); G08G 5/0069 (2012.12); G06T 2207/10032 (2012.12); G06T 2207/20072 (2012.12); G06T 2207/30181 (2012.12);
Abstract
A UAS may use camera-captured ground feature data to iteratively estimate pose change through a Kalman filter. To avoid excessive drift, the UAS may periodically perform a reset by publishing delta pose and covariance as an edge in a global pose graph, by zeroing out the delta pose and covariance. To further improve global pose estimation, two UASs may share range information and associated pose graph information, thereby providing an additional constraint for each UAS to use in its pose graph optimization.