US 12,148,206 B2
Method for controlling an unmanned aerial vehicle to avoid obstacles
Ali Shoeb, San Rafael, CA (US)
Assigned to Wing Aviation LLC, Palo Alto, CA (US)
Filed by Wing Aviation LLC, Mountain View, CA (US)
Filed on Mar. 31, 2022, as Appl. No. 17/710,503.
Prior Publication US 2023/0316740 A1, Oct. 5, 2023
Int. Cl. G06V 20/17 (2022.01); B64C 39/02 (2023.01); G05D 1/00 (2006.01); G06N 5/04 (2023.01); G06T 7/593 (2017.01); G06V 10/75 (2022.01); G06V 20/10 (2022.01); B64U 101/30 (2023.01); B64U 101/60 (2023.01)
CPC G06V 20/17 (2022.01) [B64C 39/024 (2013.01); G05D 1/042 (2013.01); G05D 1/106 (2019.05); G06N 5/04 (2013.01); G06T 7/593 (2017.01); G06V 10/751 (2022.01); G06V 20/176 (2022.01); B64U 2101/30 (2023.01); B64U 2101/60 (2023.01); B64U 2201/10 (2023.01); G06T 2207/10012 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/20061 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving, by an image processing system, a depth image captured by a stereo camera on an unmanned aerial vehicle (UAV), wherein one or more pixels of the depth image are associated with corresponding depth values indicative of distances of one or more objects to the stereo camera;
determining, by the image processing system, that one or more pixels of the depth image are associated with invalid depth values;
inferring, based on a distribution of the one or more pixels of the depth image that are associated with invalid depth values, a presence of a potential obstacle in an environment of the UAV; and
controlling the UAV based on the inferred presence of the potential obstacle.