Patent ID: 11914369
Assignee: SZ DJI TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 15:
16. An unmanned aerial vehicle (UAV), comprising:
a plurality of sensors coupled to the UAV including at least a vision sensor and a proximity sensor;
a propulsion system; and
one or more processors, individually or collectively, configured to:
receive a first sensing signal from the vision sensor and a second sensing signal from the proximity sensor, the first sensing signal including first depth information of the environment and the second sensing signal including second depth information of the environment;
select the first sensing signal for generating a first portion of an environmental map and the second sensing signal for generating a second portion of the environmental map based on a suitable criterion, wherein the suitable criterion is associated with distinct characteristics of various portions of the environment or distinct capabilities of the vision sensor and the proximity sensor, the first sensing signal is more suitable than the second sensing signal for generating the first portion of the environmental map, the second sensing signal is more suitable than the first sensing signal for generating the second portion of the environmental map, and the first portion is different from the second portion;
generate a first set of depth images for the first portion of the environmental map based on the first sensing signal and a second set of depth images for the second portion of the environmental map based on the second sensing signal, the first set of depth images including a portion of the first depth information corresponding to the first portion of the environmental map and the second set of depth images including a portion of the second depth information corresponding to the second portion of the environmental map;
combine the first set of depth images and the second set of depth images to generate the environmental map; and
control the propulsion system for effecting the UAV to navigate in the environment using the environmental map.