Interfaces and control of aerial vehicle for automated multidimensional volume scanning

1 . A computing apparatus comprising:

one or more non-transitory computer-readable storage media; and

program instructions stored on the one or more computer-readable storage media that, when executed by one or more processors, direct the computing apparatus to at least:

continually present a graphical user interface (GUI) at the computing apparatus, the GUI including a display of a current view of a physical environment from a perspective of an aerial vehicle, wherein the current view is generated based on sensor data from a sensor device onboard the aerial vehicle;

detect user interactions with the GUI while the aerial vehicle is in flight, the user interactions including instructions directing the aerial vehicle to:

maneuver within the physical environment, and

configure parameters for a three-dimensional (3D) scan of a 3D scan volume, the parameters including at least one parameters for setting a fixed perspective from which to observe progress of the 3D scan in augmented reality;

transmit, to the aerial vehicle, data encoding the instructions for performing the 3D scan of the 3D scan volume; and

continually present, from the fixed perspective, a coverage mesh in augmented reality overlaid on a view of the physical environment,

wherein the coverage mesh includes a plurality of contour paths spaced apart from each other along at least one axis associated with the 3D scan volume,

wherein the coverage mesh visually depicts photo coverage progress of the 3D scan volume as a function of completed image capture by the aerial vehicle, and

wherein the coverage mesh dynamically updates in real-time based on the sensor data received from the aerial vehicle indicating actual progress of the 3D scan.

2 . The computing apparatus of claim 1 , wherein the user interactions including instructions directing the aerial vehicle to maneuver within the physical environment and configure parameters for scanning the 3D scan volume include instructions to set a rally point.

3 . The computing apparatus of claim 2 , wherein the instructions to set the rally point include instructions to:

maneuver the aerial vehicle to a particular location within the physical environment; and

set the rally point at the particular location.

4 . The computing apparatus of claim 1 , wherein the user interactions including instructions directing the aerial vehicle to maneuver within the physical environment and configure parameters for scanning the 3D scan volume include instructions to set a scan floor.

5 . The computing apparatus of claim 4 , wherein the program instructions, when executed by the one or more processors, direct the computing apparatus to:

present a horizontal plane in augmented reality overlaid on the view of the physical environment, and

wherein the user interactions with the GUI are operable to adjust the horizontal plane and set the scan floor.

6 . The computing apparatus of claim 4 , wherein the instructions to set the scan floor include instructions to:

maneuver the aerial vehicle to a particular altitude within the physical environment; and

set the scan floor at the particular altitude.

7 . The computing apparatus of claim 1 , wherein the user interactions including instructions directing the aerial vehicle to maneuver within the physical environment and configure parameters for scanning the 3D scan volume include instructions to set a scan ceiling.

8 . The computing apparatus of claim 7 , wherein the program instructions, when executed by the one or more processors, direct the computing apparatus to:

present a horizontal plane in augmented reality overlaid on the view of the physical environment, and

wherein the user interactions with the GUI are operable to adjust the horizontal plane and set the scan ceiling.

9 . The computing apparatus of claim 7 , wherein the instructions to set the scan ceiling include instructions to:

maneuver the aerial vehicle to a particular altitude within the physical environment; and

set the scan ceiling at the particular altitude.

10 . The computing apparatus of claim 1 , wherein the user interactions including instructions directing the aerial vehicle to maneuver within the physical environment and configure parameters for scanning the 3D scan volume include instructions to set multiple lateral pillar boundaries, wherein the instructions to set the multiple lateral pillar boundaries include instructions to maneuver the aerial vehicle to at least three physical locations within the physical environment, wherein each physical location defines a lateral pillar boundary of the multiple lateral pillar boundaries, and wherein the multiple lateral pillar boundaries comprise a polygon that defines lateral bounds of a visual geofence.

11 . The computing apparatus of claim 10 , wherein the aerial vehicle is directed to stay within the visual geofence within a threshold strictness level while performing the 3D scan.

12 . The computing apparatus of claim 11 , wherein the program instructions when executed by one or more processors, further direct the computing apparatus to at least:

detect additional user interactions with the GUI while the aerial vehicle is in flight, the additional user interactions including instructions directing the aerial vehicle to dynamically adjust the strictness level of the visual geofence.

13 . The computing apparatus of claim 1 , wherein the program instructions for performing the 3D scan of the 3D scan volume includes instructions for directing the aerial vehicle to enter and exit the 3D scan volume at the same location.

14 . The computing apparatus of claim 1 , wherein the user interactions include instructions directing the aerial vehicle to further maneuver within the physical environment.

15 . A computing apparatus comprising:

one or more non-transitory computer-readable storage media; and

program instructions stored on the one or more computer-readable storage media that, when executed by one or more processors, direct the computing apparatus to at least:

continually present a graphical user interface (GUI) at the computing apparatus, the GUI including:

a display of a current view of a physical environment from a perspective of an aircraft, the current view generated based on sensor data from a sensor device onboard the aircraft; and

an augmented reality (AR) coverage mesh overlaid on the current view from a fixed perspective, the AR coverage mesh including a plurality of spaced-apart contour paths associated with a scan volume;

detect user interactions with the GUI while the aircraft is in flight, the user interactions including instructions to:

configure a scan of a three-dimensional (3D) scan volume; and

set one or more scan parameters including a fixed virtual camera perspective from which to observe progress of the scan in augmented reality;

transmit, to the aircraft, data encoding the instructions to perform the scan of the 3D scan volume; and

dynamically update the AR coverage mesh in real-time

based on the sensor data received from the aircraft indicating actual image capture progress, wherein the AR coverage mesh visually distinguishes between scanned and unscanned regions of the scan volume.

16 . The computing apparatus of claim 15 , wherein the program instructions when executed by the one or more processors, further direct the computing apparatus to at least:

continually present at least three pillars of a polygon that defines lateral bounds of a geofence in augmented reality overlaid on a view of the physical environment from a preset perspective of the aircraft, wherein edges of the polygon encompass a structure to be scanned.

17 . A method comprising:

continually presenting a graphical user interface (GUI) at a computing apparatus, the GUI including a display of a current view of a physical environment from a perspective of an aerial vehicle, wherein the current view is generated based on sensor data from a sensor device onboard the aerial vehicle;

detecting user interactions with the GUI while the aerial vehicle is in flight, the user interactions including instructions directing the aerial vehicle to:

maneuver within the physical environment, and

configure parameters for a three-dimensional (3D) scan of a 3D scan volume, the parameters including at least one parameter for setting a fixed perspective from which to observe progress of the 3D scan in augmented reality;

transmitting, to the aerial vehicle, data encoding the instructions for performing the 3D scan of the 3D scan volume; and

continually presenting, from the fixed perspective, a coverage mesh in augmented reality overlaid on a view of the physical environment,

wherein the coverage mesh includes a plurality of contour paths spaced apart from each other along at least one axis associated with the 3D scan volume,

wherein the coverage mesh visually depicts photo coverage progress of the 3D scan volume, and

wherein the coverage mesh dynamically updates in real-time based on the sensor data received from the aerial vehicle indicating actual progress of the 3D scan.

18 . The method of claim 17 , wherein the user interactions including instructions directing the aerial vehicle to maneuver within the physical environment and configure parameters for scanning the 3D scan volume include instructions to set a rally point.

19 . The method of claim 18 , wherein the instructions to set the rally point include instructions to:

maneuver the aerial vehicle to a particular location within the physical environment; and

set the rally point at the particular location.

20 . The method of claim 17 , wherein the user interactions including instructions directing the aerial vehicle to maneuver within the physical environment and configure parameters for scanning the 3D scan volume include instructions to set a scan floor.

21 . The computing apparatus of claim 1 , wherein the fixed perspective is defined by user input provided via the GUI.

22 . The computing apparatus of claim 1 , wherein the coverage mesh is color-coded or shaded to distinguish scanned regions from unscanned regions.

23 . The computing apparatus of claim 1 , wherein the GUI further presents a scan floor, ceiling, and lateral boundaries of the 3D scan volume as adjustable AR overlays.

24 . The computing apparatus of claim 1 , wherein the sensor data comprises geotagged metadata and pose estimates associated with captured images.