US 12,406,586 B2
3D localization and mapping systems and methods
Jon Elvira Andres Lund, Asker (NO)
Assigned to FLIR Unmanned Aerial Systems AS, Hvalstad (NO)
Appl. No. 17/615,779
Filed by FLIR UNMANNED AERIAL SYSTEMS AS, Hvalstad (NO); and FLIR SYSTEMS INC., Wilsonville, OR (US)
PCT Filed May 26, 2020, PCT No. PCT/US2020/034585
§ 371(c)(1), (2) Date Dec. 1, 2021,
PCT Pub. No. WO2020/247212, PCT Pub. Date Dec. 10, 2020.
Claims priority of provisional application 62/857,225, filed on Jun. 4, 2019.
Prior Publication US 2022/0230550 A1, Jul. 21, 2022
Int. Cl. G08G 5/55 (2025.01); B64U 10/14 (2023.01); B64U 10/25 (2023.01); B64U 20/87 (2023.01); B64U 101/31 (2023.01); G05D 1/00 (2024.01); G08G 5/21 (2025.01); G08G 5/57 (2025.01)
CPC G08G 5/55 (2025.01) [B64U 20/87 (2023.01); G05D 1/106 (2019.05); G08G 5/21 (2025.01); G08G 5/57 (2025.01); B64U 10/14 (2023.01); B64U 10/25 (2023.01); B64U 2101/31 (2023.01); B64U 2201/10 (2023.01); B64U 2201/20 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a mobile platform;
a single element rangefinder (SER) comprising a single ranging sensor element, wherein the SER is configured to provide ranging sensor data indicating a distance between the SER and a surface intercepting a sensor axis of the SER corresponding to the single ranging sensor element;
a gimbal system configured to couple the SER to the mobile platform and adjust an orientation of and aim the SER relative to the mobile platform; and
a logic device configured to communicate with the SER, the gimbal system, and/or the mobile platform, wherein the logic device is configured to:
generate, at a first anchor position of the projected course, a horizontal planar occupancy map based, at least in part, on a first set of ranging sensor data, an altitude of the mobile platform, and a projected course of the mobile platform, wherein the first set of ranging sensor data corresponds to a horizontal planar scan of a survey area;
generate, at the first anchor position, a vertical planar occupancy map based, at least in part, on a second set of ranging sensor data and the projected course of the mobile platform, wherein the second set of ranging sensor data corresponds to a vertical planar scan of the survey area;
determine a three-dimensional occupancy map based, at least in part, on the horizontal planar occupancy map and the vertical planar occupancy map;
determine an avoidance course for the mobile platform based, at least in part, on the three-dimensional occupancy map and a projected destination associated with the projected course, wherein the avoidance course is configured to maneuver the mobile platform from an avoidance anchor position on the projected course to an avoidance destination to avoid one or more maneuvering obstructions identified in the three-dimensional occupancy map; and
maneuver the mobile platform from the avoidance anchor position to the avoidance destination, wherein maneuvering the mobile platform comprises at least adjusting a heading and/or altitude of the mobile platform.