Autonomous aerial vehicle hardware configuration
An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.
1 . An aerial vehicle comprising:
a body that extends along a longitudinal axis from a forward end to an aft end, the body having a port side and a starboard side on opposite sides of the longitudinal axis;
a first rotor assembly extending from the port side of the body proximate to the forward end of the body;
a second rotor assembly extending from the starboard side of the body proximate to the forward end of the body;
a third rotor assembly extending from the port side of the body proximate to the aft end of the body;
a fourth rotor assembly extending from the starboard side of the body proximate to the aft end of the body;
a plurality of upward-facing image capture devices mounted to capture imagery of a space above the aerial vehicle;
a plurality of downward-facing image capture devices mounted to capture imagery of a space below the aerial vehicle; and
a computer system communicatively coupled to the plurality of upward-facing image capture devices and the plurality of downward-facing image capture devices, the computer system configured to:
process images captured by any one or more of the plurality of upward-facing image capture devices or the plurality of downward-facing image capture devices to estimate a position and/or orientation of the aerial vehicle;
generate a planned trajectory for the aerial vehicle through a physical environment based on the processing of the images; and
control a propulsion system and/or flight surface of the aerial vehicle to cause the aerial vehicle to autonomously maneuver along the planned trajectory.
2 . The aerial vehicle of claim 1 , wherein:
the plurality of upward-facing image capture devices are oriented relative to a body of the aerial vehicle to enable stereoscopic computer vision substantially above the aerial vehicle; and
the plurality of downward-facing image capture devices are oriented relative to the body of the aerial vehicle to enable stereoscopic computer vision substantially below the aerial vehicle.
3 . The aerial vehicle of claim 1 , wherein:
the plurality of upward-facing image capture devices include:
three image capture devices arranged on one or more top surfaces of the aerial vehicle so as to enable trinocular stereoscopic computer vision in a first plurality of directions substantially above the aerial vehicle; and
the plurality downward-facing image capture devices include:
three image capture devices arranged on one or more bottom surfaces of the aerial vehicle so as to enable trinocular stereoscopic computer vision in a second plurality of directions substantially below the aerial vehicle.
4 . The aerial vehicle of claim 1 , wherein at least one of the plurality of upward-facing image capture devices and at least one of the plurality of downward-facing image capture devices have overlapping fields of view.
5 . The aerial vehicle of claim 1 , wherein at least one of the plurality of upward-facing image capture devices or the plurality of downward-facing image capture devices has a field of view of at least 180 degrees.
6 . The aerial vehicle of claim 1 , wherein the plurality of upward-facing image capture devices and the plurality of downward-facing image capture devices are arranged so as to enable stereoscopic image capture in all directions around the aerial vehicle.
7 . The aerial vehicle of claim 1 , wherein:
the plurality of upward-facing image capture devices include:
a first image capture device arranged along a top surface of the first rotor assembly;
a second image capture device arranged along a top surface of the second rotor assembly; and
a third image capture device arranged along a top surface of the body proximate to the aft end of the body; and
the plurality of downward-facing image capture devices include:
a fourth image capture device arranged along a bottom surface of the third rotor assembly;
a fifth image capture device arranged along a bottom surface of the fourth rotor assembly; and
a sixth image capture device arranged along a bottom surface of the body proximate to the forward end of the body.
8 . The aerial vehicle of claim 1 , wherein
the first rotor assembly includes a first powered rotor arranged along a bottom surface of the first rotor assembly;
the second rotor assembly includes a second powered rotor arranged along a bottom surface of the second rotor assembly;
the third rotor assembly includes a third powered rotor arranged along a top surface of the third rotor assembly; and
the fourth rotor assembly includes a fourth powered rotor arranged along a top surface of the fourth rotor assembly.
9 . The aerial vehicle of claim 1 , wherein at least one of the first rotor assembly, second rotor assembly, third rotor assembly, or fourth rotor assembly includes:
a support arm that extends from a wall of the body to a rotor housing.
10 . The aerial vehicle of claim 9 , wherein at least a portion of the support arm, the wall of the body, and the rotor housing are formed as a unitary part in the construction of the aerial vehicle.
11 . The aerial vehicle of claim 1 , further comprising:
a plurality of protective structural elements, each of the plurality of protective structural elements arranged proximate to a different one of the plurality of upward-facing image capture devices and the plurality of downward-facing image capture devices, the plurality of protective structural elements configured to protect the plurality of upward-facing image capture devices and the plurality of downward-facing image capture devices from contact with physical objects while the aerial vehicle is in use.
12 . The aerial vehicle of claim 1 , wherein the aerial vehicle is an unmanned aerial vehicle (UAV).
13 . The aerial vehicle of claim 1 , wherein the aerial vehicle is a fixed-wing aircraft.
14 . A computing apparatus comprising
one or more non-transitory computer-readable media; and
program instructions stored on the one or more computer-readable storage media that, when executed by one or more processors, direct a control system of an aerial vehicle having a plurality of upward-facing image capture devices and a plurality of downward-facing image capture devices to at least:
process images captured by any one or more of the plurality of upward-facing image capture devices or the plurality of downward-facing image capture devices to estimate a position and/or orientation of the aerial vehicle;
generate a planned trajectory for the aerial vehicle through a physical environment based on the processing of the images;
control a propulsion system and/or flight surface of the aerial vehicle to cause the aerial vehicle to autonomously maneuver along the planned trajectory;
wherein the plurality of upward-facing image capture devices are oriented relative to a body of the aerial vehicle to enable stereoscopic computer vision substantially above the aerial vehicle and the plurality of downward-facing image capture devices are oriented relative to the body of the aerial vehicle to enable stereoscopic computer vision substantially below the aerial vehicle; and
wherein the aerial vehicle includes a body that extends along a longitudinal axis from a forward end to an aft end, the body having a port side and a starboard side on opposite sides of the longitudinal axis, a first rotor assembly extending from the port side of the body proximate to the forward end of the body, a second rotor assembly extending from the starboard side of the body proximate to the forward end of the body, a third rotor assembly extending from the port side of the body proximate to the aft end of the body, and a fourth rotor assembly extending from the starboard side of the body proximate to the aft end of the body.
15 . The apparatus of claim 14 , wherein:
the plurality of upward-facing image capture devices include:
a first image capture device arranged along a top surface of the first rotor assembly;
a second image capture device arranged along a top surface of the second rotor assembly; and
a third image capture device arranged along a top surface of the body proximate to the aft end of the body; and
the plurality of downward-facing image capture devices include:
a fourth image capture device arranged along a bottom surface of the third rotor assembly;
a fifth image capture device arranged along a bottom surface of the fourth rotor assembly; and
a sixth image capture device arranged along a bottom surface of the body proximate to the forward end of the body.
16 . An unmanned aerial vehicle comprising:
a body that extends along a longitudinal axis from a forward end to an aft end, the body having a port side and a starboard side on opposite sides of the longitudinal axis;
a first rotor assembly extending from the port side of the body proximate to the forward end of the body;
a second rotor assembly extending from the starboard side of the body proximate to the forward end of the body;
a third rotor assembly extending from the port side of the body proximate to the aft end of the body;
a fourth rotor assembly extending from the starboard side of the body proximate to the aft end of the body;
a plurality of upward-facing image capture devices including at least three image capture devices arranged on one or more top surfaces of the aerial vehicle so as to enable trinocular stereoscopic computer vision in a first plurality of directions substantially above the aerial vehicle;
a plurality of downward-facing image capture devices including at least three image capture devices arranged on one or more bottom surfaces of the aerial vehicle so as to enable trinocular stereoscopic computer vision in a second plurality of directions substantially below the aerial vehicle; and
a computer system communicatively coupled to the plurality of upward-facing image capture devices and the plurality of downward-facing image capture devices, the computer system configured to:
process images captured by any one or more of the plurality of upward-facing image capture devices or the plurality of downward-facing image capture devices to estimate a position and/or orientation of the aerial vehicle;
generate a planned trajectory for the aerial vehicle through a physical environment based on the processing of the images; and
control a propulsion system and/or flight surface of the aerial vehicle to cause the aerial vehicle to autonomously maneuver along the planned trajectory.
17 . The unmanned aerial vehicle of claim 16 , wherein at least one of the plurality of upward-facing image capture devices and at least one of the plurality of downward-facing image capture devices have overlapping fields of view and at least one of the plurality of upward-facing image capture devices or the plurality of downward-facing image capture devices has a field of view of at least 180 degrees.
18 . The aerial vehicle of claim 1 , wherein the computer system is further configured to update the planned trajectory in real time in response to visual odometry data extracted from images captured by the image capture devices.
19 . The aerial vehicle of claim 1 , wherein the planned trajectory avoids regions identified by the computer system as obstacle zones based on depth estimation derived from the stereoscopic image capture.
20 . The aerial vehicle of claim 1 , wherein the computer system is configured to reject a planned trajectory if any field of view from the image capture devices includes saturated or underexposed pixels exceeding a threshold level.
21 . The aerial vehicle of claim 1 , wherein the body further includes one or more lateral-facing image capture devices arranged to capture imagery of a lateral environment to the port and starboard sides of the aerial vehicle.
22 . The aerial vehicle of claim 1 , wherein the computer system is configured to switch from a global navigation satellite system-based localization mode to a vision-only localization mode when GNSS signal strength falls below a threshold.