Aerial vehicle map determination
A mapping system receives sensor data from an unmanned aerial vehicle. The mapping system further receives images from a camera of the unmanned aerial vehicle. The mapping system determines an altitude of the camera based on the sensor data. The mapping system calculates a footprint of the camera based on the altitude of the camera and a field of view of the camera. The mapping system constructs a localized map based on the images and the footprint of the camera.
1. A method comprising:
determining an altitude of a camera of an aerial vehicle;
determining a field of view (FOV) of the camera;
generating a footprint of the camera based on the altitude and the FOV;
determining a first map based on the footprint; and
overlaying the first map on a second map.
2. The method of claim 1 , wherein generating the footprint of the camera comprises:
generating a length of the footprint based on the altitude and a first component of the FOV; and
generating a width of the footprint based on the altitude and a second component of the FOV.
3. The method of claim 2 , wherein the first component comprises a horizontal component and the second component comprises a vertical component.
4. The method of claim 1 , wherein the first map is a localized map and the second map is a vector map.
5. The method of claim 4 , wherein the vector map includes at least one of a road network, railroad network, airport, elevation contour, coastline, boundary, or index of geographical names.
6. The method of claim 1 , further comprising:
receiving sensor data from the aerial vehicle; and
determining the altitude and the FOV based on the sensor data.
7. The method of claim 6 , wherein determining the first map comprises:
receiving images from the camera; and
determining the first map based on the images and the footprint.
8. The method of claim 7 , further comprising:
de-warping the images.
9. The method of claim 8 , wherein de-warping the images comprises at least one of distortion correction or chromatic aberration correction.
10. The method of claim 7 , further comprising:
determining a position of the camera relative to an initial position of the camera, wherein the initial position is associated with the sensor data and the images.
11. The method of claim 6 , wherein the sensor data comprises at least one of global positioning system (GPS) data or barometric data.
12. An aerial vehicle comprising:
a camera, a processor, and a memory, the memory including instructions that when executed cause the processor to:
determine information associated with the camera of the aerial vehicle;
generate a footprint of the camera based on the information;
determine a localized map based on the footprint; and
overlay the localized map on a vector map.
13. The aerial vehicle of claim 12 , wherein the information includes an altitude and a field of view (FOV) of the camera.
14. The aerial vehicle of claim 13 , wherein to generate the footprint of the camera comprises to:
generate a length of the footprint based on the altitude and a horizontal component of the FOV; and
generate a width of the footprint based on the altitude and a vertical component of the FOV.
15. The aerial vehicle of claim 13 , the memory further including instructions that when executed cause the processor to:
receive sensor data from the aerial vehicle; and
determine the altitude and the FOV based on the sensor data.
16. The aerial vehicle of claim 12 , wherein the vector map includes at least one of a road network, railroad network, airport, elevation contour, coastline, boundary, or index of geographical names.
17. The aerial vehicle of claim 12 , wherein to determine the localized map comprises to:
receive images from the camera; and
determine the localized map based on the images and the footprint.
18. The aerial vehicle of claim 17 , the memory further including instructions that when executed cause the processor to:
de-warp the images by either distortion correction or chromatic aberration correction.
19. A non-transitory computer-readable storage medium comprising stored instructions that, when executed, causes at least one processor to:
generate a footprint of a camera of an aerial vehicle based on altitude information and field of view (FOV) information associated with the camera;
determine a localized map based on the footprint; and
overlay the localized map on a vector map.
20. The non-transitory computer-readable medium of claim 19 , wherein to generate the footprint of the camera comprises:
generating a length of the footprint based on an altitude and a horizontal component of the FOV; and
generating a width of the footprint based on the altitude and a vertical component of the FOV.