System and method for auto-return
An apparatus of controlling flight of an aerial vehicle includes a memory storing a computer program code, and one or more processors, individually or collectively, configured to execute the computer program code to: collect, while the aerial vehicle traverses a flight path, a set of images corresponding to different fields of view of an environment around the aerial vehicle, construct a map of the environment using the set of images, and control the aerial vehicle to return along a return path using the map of the environment.
1. An apparatus for controlling flight of an aerial vehicle, comprising:
a memory storing a computer program code; and
one or more processors, individually or collectively, configured to execute the computer program code to:
collect, while the aerial vehicle traverses a flight path, a first set of images, the first set of images corresponding to different fields of view of an environment around the aerial vehicle;
collect, while the aerial vehicle traverses a return path, a second set of images; and
control the aerial vehicle to return along the return path based on the first set of images and the second set of images.
2. The apparatus of claim 1 , wherein:
the flight path starts at a starting location; and
the flight path terminates at an end location, or the return path terminates at the starting location.
3. The apparatus of claim 1 , wherein the one or more processors are further configured to execute the computer program code to:
compare an image feature of the first set of images and an image feature of the second set of images, to control the aerial vehicle to traverse the return path.
4. The apparatus of claim 1 , wherein the first set of images and the second set of images are obtained using multiple image capture devices, and the multiple image capture devices are arranged at different orientations relative to one another.
5. The apparatus of claim 1 , wherein:
the different fields of view span a 360° panoramic view around the aerial vehicle; or
the different fields of view span a 360° vertical view around the aerial vehicle; or
the different fields of view span a spherical space around the aerial vehicle; or
each of the different fields of view is partially overlap with another adjacent field of view.
6. The apparatus of claim 4 , wherein the one or more processors are further configured to execute the computer program code to control the multiple image capture devices to capture images of one or more visual landmarks when the aerial vehicle passes by the one or more visual landmarks while traversing the flight path.
7. The apparatus of claim 1 , wherein the one or more processors are further configured to execute the computer program code to:
extract and store a first set of image features from the first set of images, the first set of image features being used for navigation of the aerial vehicle.
8. The apparatus of claim 7 , wherein the one or more processors are further configured to execute the computer program code to construct a map of the first set of image features within the environment using the first set of image features.
9. The apparatus of claim 7 , wherein the one or more processors are further configured to execute the computer program code to:
compare the first set of image features and a second set of image features extracted from the second set of images, to control the aerial vehicle to traverse the return path.
10. The apparatus of claim 1 , wherein the flight path is a take-off path of the aerial vehicle, and the return path is a landing path of the aerial vehicle.
11. The apparatus of claim 1 , wherein the return path follows the flight path in reverse.
12. The apparatus of claim 1 , wherein the aerial vehicle is configured to have a first orientation when the aerial vehicle traverses the return path, and have a second orientation when the aerial vehicle traverses the flight path, the second orientation being different from the first orientation.
13. The apparatus of claim 1 , wherein the one or more processors are further configured to execute the computer program code to:
construct a map of the environment using the first set of images.
14. The apparatus of claim 13 , wherein the one or more processors are further configured to execute the computer program code to:
construct the map of the environment using the first set of images, and geo-spatial coordinate information or inertial measurement unit (IMU) information of the aerial vehicle.
15. The apparatus of claim 3 , wherein the image feature includes at least one of a feature point, a descriptor, or a histogram.
16. A method of controlling flight of an aerial vehicle, comprising:
collecting, while the aerial vehicle traverses a flight path, a first set of images, the first set of images corresponding to different fields of view of an environment around the aerial vehicle;
collecting, while the aerial vehicle traverses a return path, a second set of images; and
controlling the aerial vehicle to return along the return path based on the first set of images and the second set of images.
17. The method of claim 16 , wherein the flight path starts at a starting location and terminates at an end location.
18. The method of claim 17 , wherein the return path starts at the end location and terminates at the starting location.
19. The method of claim 16 , further comprising:
comparing the first set of images and the second set of images, to control the aerial vehicle to traverse the return path.
20. The method of claim 16 , wherein the first set of images and the second set of images are obtained using multiple image capture devices, and the multiple image capture devices are arranged at different orientations relative to one another.