Abstract: Embodiments include devices and methods for automatically calibrating a camera. In various embodiments, an image sensor may capture an image. Locations of one or more points including in the captured image frames may be predicted and detected. Calibration parameters may be calculated based on differences between predicted locations of a selected point within an image frame and observed locations of the selected point within the captured image frame. The automatic camera calibration method may be repeated until the calibration parameters satisfy a calibration quality threshold.

Abstract: Various embodiments involve controlling rotational maneuvers of a robotic vehicle (e.g., an unmanned aerial vehicle or UAV) so that commanded changes in vehicle attitude (e.g., pitch, roll, and/or yaw) may be performed as rotations about a center of sensing of a sensor instead of the vehicle's center of gravity. Maneuvers performed according to various embodiments may reduce or eliminate translational movements in the sensor output that occur when the robotic vehicle rotates about the center of gravity and the sensor is mounted some distance from the center of gravity.

Abstract: Embodiments include methods performed by a processor of a robotic vehicle for detecting and responding to obstructions to an on-board imaging device that includes an image sensor. Various embodiments may include causing the imaging device to capture at least one image, determining whether an obstruction to the imaging device is detected based at least in part on the at least one captured image, and, in response to determining that an obstruction to the imaging device is detected, identifying an area of the image sensor corresponding to the obstruction and masking image data received from the identified area of the image sensor.

Abstract: Various embodiments involve controlling rotational maneuvers of a robotic vehicle (e.g., an unmanned aerial vehicle or UAV) so that commanded changes in vehicle attitude (e.g., pitch, roll, and/or yaw) may be performed as rotations about a center of sensing of a sensor instead of the vehicle's center of gravity. Maneuvers performed according to various embodiments may reduce or eliminate translational movements in the sensor output that occur when the robotic vehicle rotates about the center of gravity and the sensor is mounted some distance from the center of gravity.

Abstract: Embodiments include devices and methods for automatically calibrating a camera. In various embodiments, an image sensor may capture an image. Locations of one or more points including in the captured image frames may be predicted and detected. Calibration parameters may be calculated based on differences between predicted locations of a selected point within an image frame and observed locations of the selected point within the captured image frame. The automatic camera calibration method may be repeated until the calibration parameters satisfy a calibration quality threshold.