Dynamic baseline depth imaging using multiple drones

Patent metadata

Field	Value
Publication number	US-10412372-B2
Application number	US-201715856957-A
Country	US
Kind code	B2
Filing date	Dec 28, 2017
Priority date	Dec 28, 2017
Publication date	Sep 10, 2019
Grant date	Sep 10, 2019

Abstract

Systems and methods may include a drone or multiple drones to capturing depth information, which may be used to create a stereoscopic map. The drone may capture information about two trailing drones, including a baseline distance between the two trailing drones. Additional information may be captured, such as camera angle information for one or both of the two trailing drones. The drone may receive images from the two trailing drones. The images may be used (on the drone or on another device, such as a base station) to create a stereoscopic image using the baseline distance. The stereoscopic image may include determined depth information for objects within the stereoscopic image, for example based on the baseline distance between the two trailing drones and the camera angle information.

First claim

What is claimed is:

1. A drone system for capturing depth information comprising:
a lead drone to:
capture information about two trailing drones, the captured information including a baseline distance between the two trailing drones and camera angle information for each of the two trailing drones;
receive images from the two trailing drones, the images used to create a stereoscopic image using the baseline distance between the two trailing drones and the camera angle information for each of the two trailing drones; and
determine depth information for objects within the stereoscopic image based on the baseline distance between the two trailing drones and the camera angle information.

2. The drone system of claim 1 , wherein to capture information about the two trailing drones the lead drone is further to capture an image including an infrared (IR) light-emitting diode (LED) on each of the two trailing drones, and wherein to determine the depth information, the lead drone is to use the locations of the IR LEDs of each of the two trailing drones within the image.

3. The drone system of claim 2 , wherein the IR LED is time gated via a shared radio link among the lead drone and the two trailing drones to allow the IR LEDs on each of the two trailing drones to initiate capturing the image by the lead drone.

4. The drone system of claim 1 , wherein the captured information includes a relative distance from the lead drone to each of the two trailing drones, and wherein to determine depth information for objects within the stereoscopic image, the lead drone is to use the relative distance.

5. The drone system of claim 1 , wherein the captured information includes a relative altitude of each of the two trailing drones to the lead drone, and wherein to determine depth information for objects within the stereoscopic image, the lead drone is to use the relative altitude.

6. The drone system of claim 1 , wherein the images are received from respective single high-resolution cameras on each of the two trailing drones.

7. The drone system of claim 1 , wherein the depth information is determined using a depth error inversely proportional to a relative distance between the two trailing drones.

8. The drone system of claim 1 , wherein the lead drone is further to capture information about a third trailing drone, the captured information about the third trailing drone including relative location information for the third trailing drone, receive an image from the third trailing drone, and create the stereoscopic image using the image from the third trailing drone.

9. A drone based mapping system comprising:
a lead drone to:
capture information about two trailing drones, the captured information including a baseline distance between the two trailing drones and camera angle information for each of the two trailing drones;
receive images from the two trailing drones;
create a stereoscopic image of an area based on the images, the baseline distance between the two trailing drones, and the camera angle information; and
create a depth map including depth information of the area of the images based on the stereoscopic image.

10. The drone based mapping system of claim 9 , wherein to capture information about the two trailing drones the lead drone is further to capture an image including an infrared (IR) light-emitting diode (LED) on each of the two trailing drones, and wherein to determine the depth information, the lead drone is to use the locations of the IR LEDs of each of the two trailing drones within the image.

11. The drone based mapping system of claim 10 , wherein the IR LED is time gated via a shared radio link among the lead drone and the two trailing drones to allow the IR LEDs on each of the two trailing drones to initiate capturing the image by the lead drone.

12. The drone based mapping system of claim 9 , wherein the captured information includes a relative distance from the lead drone to each of the two trailing drones, and wherein to create the stereoscopic image of the area, the lead drone is to use the relative distance.

13. The drone based mapping system of claim 9 , wherein the images are received from respective single high-resolution cameras on each of the two trailing drones.

14. The drone based mapping system of claim 9 , wherein the depth information is determined using a depth error inversely proportional to a relative distance between the two trailing drones.

15. A method for capturing depth information comprising:
capturing, at a lead drone, information about two trailing drones, the captured information including a baseline distance between the two trailing drones and camera angle information for each of the two trailing drones;
receiving, at the lead drone, images from the two trailing drones, the images used to create a stereoscopic image using the baseline distance between the two trailing drones and the camera angle information for each of the two trailing drones; and
determining depth information for objects within the stereoscopic image based on the baseline distance between the two trailing drones and the camera angle information.

16. The method of claim 15 , wherein capturing information about the two trailing drones includes capturing an image including an infrared (IR) light-emitting diode (LED) on each of the two trailing drones, and wherein determining the depth information includes using the locations of the IR LEDs of each of the two trailing drones within the image.

17. The method of claim 15 , wherein the captured information includes a relative altitude of each of the two trailing drones to the lead drone, and wherein determining the depth information for objects within the stereoscopic image includes using the relative altitude.

18. The method of claim 15 , wherein the images are received from respective single high-resolution cameras on each of the two trailing drones.

19. The method of claim 15 , wherein the depth information is determined using a depth error inversely proportional to a relative distance between the two trailing drones.

20. The method of claim 15 , further comprising:
capturing information about a third trailing drone, the captured information about the third trailing drone including relative location information for the third trailing drone;
receiving an image from the third trailing drone; and
creating the stereoscopic image using the image from the third trailing drone.

21. At least one non-transitory machine-readable medium including instructions for capturing depth information, which when executed by a processor of a lead drone, cause the processor to:
capture, at a lead drone, information about two trailing drones, the captured information including a baseline distance between the two trailing drones and camera angle information for each of the two trailing drones;
receive, at the lead drone, images from the two trailing drones, the images used to create a stereoscopic image using the baseline distance between the two trailing drones and the camera angle information for each of the two trailing drones; and
determine depth information for objects within the stereoscopic image based on the baseline distance between the two trailing drones and the camera angle information.

22. The at least one machine-readable medium of claim 21 , wherein the depth information is determined using a depth error inversely proportional to a relative distance between the two trailing drones.

23. The at least one machine-r

Assignees

• Intel Ip Corp

Inventors

• Tamir Eliezer
• Grunnet-Jepsen Anders

Classifications

• B64U2201/102

  adapted for flying in formations · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• H04N13/271 Primary

  wherein the generated image signals comprise depth maps or disparity maps · CPC title

• H04N13/239

  using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) · CPC title

• H04N2013/0081

  Depth or disparity estimation from stereoscopic image signals · CPC title