Patent ID: 11866198
Assignee: CALIFORNIA INSTITUTE OF TECHNOLOGY
Field: Transport (Mechanical engineering)
Classification: CPC B  G  Y | IPC B  G

Claim 11:
12. The method of claim 11, wherein:
the calibrating isolates an effect of bundle geometry where a tag bundle geometry and camera-tag distance are the only independent variables;
the multiple tag fiducials comprise a first size tag fiducial of a first size and a second size tag fiducials of a second size;
the second size is larger than the first size;
the second size tag fiducial enables detection from a higher altitude compared to the first size tag fiducial;
placement of multiple first size tag fiducials around the charging area of the target landing-charging station will not obscure the charging area; and
the multiple first size tag fiducials are distributed symmetrically about the target landing-charging station.