| CPC G06T 7/75 (2017.01) [B64D 39/00 (2013.01); G05D 1/104 (2013.01); G06T 19/006 (2013.01)] | 20 Claims |
|
1. A method of aerial refueling, the method comprising:
receiving a video frame showing an aircraft to be refueled;
receiving an initial position estimate and an initial pose estimate for the aircraft;
based on at least the initial position estimate and the initial pose estimate, generating an initial rendering of an aircraft model of the aircraft;
based on at least the video frame and the initial rendering of the aircraft model, determining refinement parameters for the initial position estimate and the initial pose estimate;
based on at least the initial position estimate, the initial pose estimate, and the refinement parameters, determining a refined position estimate and a refined pose estimate for the aircraft;
based on at least the refined position estimate and the refined pose estimate for the aircraft, determining a position and pose of a fuel receptacle on the aircraft; and
based on at least the position and pose of the fuel receptacle, controlling an aerial refueling boom to engage the fuel receptacle.
|