US 12,169,878 B2
Multi-level premise mapping with camera drone
Ilja Nevdahs, Carnikava (LV); and Agris Kipurs, Jelgava (LV)
Assigned to Alarm.com Incorporated, Tysons, VA (US)
Filed by Alarm.com Incorporated, Tysons, VA (US)
Filed on Sep. 17, 2021, as Appl. No. 17/478,018.
Application 17/478,018 is a continuation of application No. 16/819,949, filed on Mar. 16, 2020, granted, now 11,127,170.
Claims priority of provisional application 62/819,091, filed on Mar. 15, 2019.
Claims priority of provisional application 62/819,167, filed on Mar. 15, 2019.
Prior Publication US 2022/0005236 A1, Jan. 6, 2022
Int. Cl. G06T 11/00 (2006.01); G06V 20/17 (2022.01)
CPC G06T 11/00 (2013.01) [G06T 2210/04 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A system comprising:
a drone comprising at least one sensor; and
one or more processors and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising:
receiving data indicative of an instruction to obtain mapping data between an initial point on one level of a building and a terminating point on a second level different than the one level of the building, a path between the initial point and the terminating point comprising a curved staircase having a plurality of horizontal front edges including a first horizontal front edge that is not parallel to a second horizontal front edge in the curved staircase, wherein the data indicative of the instruction to obtain the mapping data between the initial point and the terminating point was generated from input for a graphical user interface;
detecting, using the at least one sensor and from the plurality of horizontal front edges and after the drone aligned a horizontal orientation of the drone with the first horizontal front edge, the second horizontal front edge that is not parallel to the first horizontal front edge in the curved staircase;
controlling, using the data from the detection of the second horizontal front edge, a position and the horizontal orientation of the drone such that a heading direction of the drone is substantially perpendicular to the second horizontal front edge in the curved staircase;
capturing, when the drone is traversing at least a portion of the curved staircase while moving from the initial point to the terminating point, the mapping data comprising sensor data from the at least one sensor; and
storing the mapping data in memory for use after the drone terminates capturing of the mapping data when a terminating criterion is satisfied.