Iterative image position determination
View Patent ↗Herein is disclosed an image location iteration system comprising one or more processors configured to receive from one or more unmanned aerial vehicles a plurality of images and corresponding detected positions; determine an alignment of the plurality of images according to one or more image features; calculate a first set of measured locations for the plurality of images according to the alignment and the detected positions; and calculate a second set of measured locations the plurality of images according to the alignment and a first subset of the detected positions.
1. An image location iteration system comprising one or more processors configured to:
receive from one or more unmanned aerial vehicles a plurality of images and corresponding detected positions;
determine an alignment of the plurality of images according to one or more image features;
calculate a first set of measured locations for the plurality of images according to the alignment and the detected positions; and
calculate a second set of measured locations the plurality of images according to the alignment and a first subset of the detected positions.
2. The image location iteration system of claim 1 , wherein the one or more processors are further configured to order the first set of measured locations by a magnitude of difference between the measured locations and corresponding detected positions.
3. The image location iteration system of claim 2 , wherein the first subset is a percentage of the detected positions with a smallest magnitude of difference between a detected position and a corresponding measured location.
4. The image location iteration system of claim 3 , wherein the percentage is 90%.
5. The image location iteration system of claim 1 , wherein the one or more processors are configured to disregard a percentage of the detected positions with a greatest magnitude of difference between a detected position and a corresponding measured location.
6. The image location iteration system of claim 1 , wherein the one or more processors are further configured to calculate a third set of measured locations for the plurality of images according to a second subset of the detected positions and the alignment.
7. The image location iteration system of claim 1 , wherein the one or more processors are further configured to repeat the iterative process until a termination factor is reached.
8. The image location iteration system of claim 7 , wherein the termination factor is a percentage of detected positions remaining for consideration.
9. The image location iteration system of claim 8 , wherein the termination percentage is 60%.
10. The image location iteration system of claim 7 , wherein the termination factor is a number of iterations.
11. The image location iteration system of claim 1 , further comprising:
one or more unmanned aerial vehicles comprising:
one or more image sensors, configured to obtain at least one image;
a position detector, configured to detect a position of the unmanned aerial vehicle when the at least one image is generated;
an image positioning circuit, configured to associate the at least one image with a corresponding detected position.
12. A method of image location iteration comprising:
obtaining from one or more unmanned aerial vehicles a plurality of images;
detecting positions from which the plurality of images were obtained;
associating the plurality of images with corresponding detected positions;
determining an alignment of the plurality of images according to one or more image features;
calculating a first set of measured locations for the plurality of images according to the alignment and the detected positions; and
calculating a second set of measured locations the plurality of images according to the alignment and a first subset of the detected positions.
13. The method of image location iteration of claim 12 , further comprising ordering the first set of measured locations by a magnitude of difference between the measured locations and corresponding detected positions.
14. The method of image location iteration of claim 13 , wherein the first subset is a percentage of the detected positions with a smallest magnitude of difference between a detected position and a corresponding measured location.
15. The method of image location iteration of claim 14 , wherein the percentage is 90%.
16. The method of image location iteration of claim 12 , further comprising disregarding a percentage of the detected positions with a greatest magnitude of difference between a detected position and a corresponding measured location.
17. The method of image location iteration of claim 12 , wherein the images are obtained by a single unmanned aerial vehicle.
18. The method of image location iteration of claim 12 , wherein the images are obtained by a plurality of unmanned aerial vehicles.
19. The method of image location iteration of claim 12 , further comprising obtaining the plurality of images from a predefined image region.
20. An image location iteration system comprising:
one or more unmanned aerial vehicles comprising:
one or more image sensors, configured to obtain at least one image;
a position detector, configured to detect a position of the unmanned aerial vehicle when the at least one image is generated;
an image positioning circuit, configured to associate the at least one image with a corresponding detected position;
one or more processors configured to:
receive from the one or more unmanned aerial vehicles a plurality of images and corresponding detected positions;
determine an alignment of the plurality of images according to one or more image features;
calculate a first set of measured locations for the plurality of images according to the alignment and the detected positions; and
calculate a second set of measured locations the plurality of images according to the alignment and a first subset of the detected positions.