| CPC G06T 17/05 (2013.01) [G06T 7/521 (2017.01); G06T 19/003 (2013.01); G08G 5/80 (2025.01); G06T 2207/10032 (2013.01)] | 20 Claims |
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1. An aerial vehicle, comprising:
a body;
a plurality of propulsion mechanisms;
a plurality of external aerial vehicle light sources, wherein during horizontal flight operations, the plurality of external aerial vehicle light sources emit anti-collision light at desired strobing frequencies;
a plurality of imaging devices; and
a controller configured to at least:
determine that the aerial vehicle is in vertical flight operations; and
in response to determining that the aerial vehicle is in vertical flight operations:
instruct a first external aerial vehicle light source of the plurality of external aerial vehicle light sources to emit first structured light toward a ground surface;
instruct a second external aerial vehicle light source of the plurality of external aerial vehicle light sources to emit second structured light toward the ground surface, the first and second external aerial vehicle light sources being spaced apart from each other;
instruct an imaging device of the plurality of imaging devices to capture imaging data of the first and second structured light emitted by the first and second external aerial vehicle light sources upon the ground surface; and
process the imaging data of the first and second structured light to determine a surface geometry of the ground surface;
wherein the first structured light and the second structured light include at least one of different wavelengths of structured light, different strobing frequencies, or different patterns of structured light.
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