CPC G05D 1/0094 (2013.01) [B64C 39/024 (2013.01); B64D 31/06 (2013.01); B64D 47/08 (2013.01); G05B 13/0265 (2013.01); G05B 17/02 (2013.01); G05D 1/0088 (2013.01); G05D 1/101 (2013.01); G05D 1/227 (2024.01); G05D 1/689 (2024.01); G05D 1/69 (2024.01); G06T 7/55 (2017.01); G06T 7/74 (2017.01); G06T 17/00 (2013.01); G06T 19/20 (2013.01); G06V 20/13 (2022.01); G06V 20/64 (2022.01); H04N 23/64 (2023.01); H04N 23/695 (2023.01); H04N 23/90 (2023.01); B64U 10/13 (2023.01); B64U 2101/30 (2023.01); G06T 2207/10032 (2013.01); G06T 2207/20221 (2013.01); G06T 2219/2004 (2013.01)] | 20 Claims |
1. An unmanned aerial vehicle (UAV) comprising:
one or more image sensors;
a propulsion mechanism; and
one or more processors configured by executable instructions to at least:
access a scan plan including a sequence of poses for the UAV to assume to capture, using the one or more image sensors, images of a scan target;
check a next pose of the scan plan for obstructions;
based at least on detection of an obstruction, determine whether a backup pose is available for capturing an image of the targeted point orthogonally along a normal of the targeted point; and
responsive to determining that the backup pose is unavailable for capturing an image of the targeted point orthogonally along the normal of the targeted point, perform image capture of the targeted point at an oblique angle to the normal of the targeted point.
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