US 12,246,859 B2
Apparatus and method for controlling aerial vehicle
Hyun Jee Ryu, Gyeonggi-do (KR); Kyu Nam Kim, Gyeonggi-do (KR); Chang Hyun Sung, Gyeonggi-do (KR); and Jun Young Lim, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Nov. 10, 2022, as Appl. No. 17/984,991.
Claims priority of application No. 10-2022-0039182 (KR), filed on Mar. 29, 2022.
Prior Publication US 2023/0315127 A1, Oct. 5, 2023
Int. Cl. B64U 10/13 (2023.01); G05D 1/00 (2006.01); G06T 7/73 (2017.01); G06V 10/70 (2022.01); G06V 20/17 (2022.01); B64U 101/30 (2023.01)
CPC B64U 10/13 (2023.01) [G05D 1/106 (2019.05); G06T 7/73 (2017.01); G06V 10/70 (2022.01); G06V 20/17 (2022.01); B64U 2101/30 (2023.01); G06T 2207/10032 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An apparatus for controlling an aerial vehicle, the apparatus comprising:
a camera configured to obtain a terrain image during flight of an aerial vehicle;
a sensor configured to obtain scan information including a scan image of a landing point for potential use by the aerial vehicle; and
a controller configured to:
estimate a location of the landing point based on the terrain image if the landing point is recognized in the terrain image;
extract one point in the scan image obtained from the sensor corresponding to one point of the landing point in the terrain image obtained from the camera;
match the one point of the landing point with the one point in the scan image;
determine the location of the landing point in the scan image based on the one point in the scan image;
determine whether an obstacle exists at the landing point based on the scan image; and
determine whether landing of the aerial vehicle is possible based on a determination result that does not indicate existence of the obstacle, and if landing is determined to be possible, control landing of the aerial vehicle.