System and method for drift-free global trajectory estimation of a mobile platform

Described is a system for trajectory estimation of a mobile platform, such as a UAV. In operation, the system generates an initial trajectory estimate for the mobile platform which is stored in a trajectory buffer as a buffered trajectory. Images captured at a location are compared with a location r...

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Bibliographic Details
Main Authors Jeong, Changsoo S, Zhang, Lei, Kim, Kyungnam, Khosla, Deepak, Xu, Jiejun
Format Patent
LanguageEnglish
Published 31.12.2019
Subjects
AEROPLANES
AIRCRAFT
AVIATION
CALCULATING
COMPUTING
CONTROLLING
COSMONAUTICS
COUNTING
HANDLING RECORD CARRIERS
HELICOPTERS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PERFORMING OPERATIONS
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
REGULATING
SIGNALLING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TRAFFIC CONTROL SYSTEMS
TRANSPORTING
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Summary:Described is a system for trajectory estimation of a mobile platform, such as a UAV. In operation, the system generates an initial trajectory estimate for the mobile platform which is stored in a trajectory buffer as a buffered trajectory. Images captured at a location are compared with a location recognition database to generate a location label for a current location to designate the current location as a new location or a revisited location. If the location is a revisited location, the system determines if trajectory correction is required. If so, the buffered trajectory is corrected to generate a corrected trajectory as the drift-free trajectory. Finally, the drift-free trajectory can be used in a variety of applications. For example, the drift-free trajectory can be used to cause the mobile platform to traverse a path that coincides with the drift-free trajectory.
Bibliography:Application Number: US201615288622