Ground Marker Height Variation for Accurate Aerial Depth Estimation
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Solution Overview
Problem
Aerial vehicles face challenges in accurately determining their position and orientation relative to ground markers due to biases in computer vision algorithms, especially when markers are placed on flat surfaces, leading to inaccurate depth estimates.
Innovation Solution
The use of ground markers with vertically varying visible surfaces, which can be achieved through design features like non-parallel angles or inflatable bladders, enhances visibility and accuracy by allowing cameras to capture images with varying orientations or angles, improving depth estimation during descent.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a flat ground marker is used on a flat surface, then the marker is simple to manufacture and deploy, but computer vision algorithms encounter biases in estimating positions and distances
Solution Approach 1:
The ground marker is designed with a raised portion that extends vertically from the flat base, transforming a two-dimensional flat marker into a three-dimensional structure. This vertical dimension provides additional visual cues for depth estimation, allowing computer vision algorithms to more accurately determine the aerial vehicle's position and orientation relative to the marker without compromising manufacturing simplicity.
Solution Approach 2:
The marker introduces vertical height variation as a new parameter to the otherwise flat surface. By changing the z-height parameter of certain portions of the marker (creating raised sections), the system provides additional depth information that helps resolve the depth estimation bias inherent in flat marker configurations.
2Ease of operation
If a flat ground marker is used, then deployment is straightforward, but the aerial vehicle's position and orientation calculations become inaccurate
Solution Approach 1:
By adding vertical elevation to specific portions of the marker, the system maintains the simplicity of deploying a flat base while introducing three-dimensional features that improve positioning accuracy. The raised portions can be easily formed through molding or assembly, keeping deployment straightforward while enhancing measurement precision.
3Measurement precision
If vertical variation is added to the ground marker, then depth estimation accuracy improves, but manufacturing complexity increases
Solution Approach 1:
The marker is segmented into distinct portions: a flat base and raised sections with specific markings. This segmentation allows the complex three-dimensional features to be broken down into manageable components that can be manufactured separately and assembled, reducing overall manufacturing complexity while maintaining the vertical variation needed for accurate depth estimation.
Data Source
AI summary
A ground marker for use in identifying a location associated with a mission performed by an aerial vehicle includes a visible surface with aspects that are positioned at different vertical heights or elevations. The vertical variation in the aspects of the visible surface enhances a level of visibility of the ground marker within images captured by cameras provided aboard the aerial vehicle, resulting in more accurate estimations of ranges to such markers (e.g., altitudes) determined from such images. The visible surface includes one-dimensional or two-dimensional bar codes, alphanumeric characters and symbols thereon and is provided on or within rigid or flexible frames that are adapted to be placed on ground surfaces at the location associated with the mission.