FORM 2
THE PATENTS ACT 1970
39 of 1970
&
The Patent Rules 2003
COMPLETE SPECIFICATION
(See section 10 & rule 13)
1. TITLE OF THE INVENTION
A FLYING SYSTEM FOR GENERATING HIGH RESOLUTION IMAGERY
2. APPLICANT (S)
NAME NATIONALITY ADDRESS
AIRPIX GEOANALYTICS F-734, Sagar Park,
Indian
PRIVATE LIMITED Amrut Nagar , Ghatkopar
(West) ,
Mumbai - 400086.

A FLYING SYSTEM FOR GENERATING HIGH RESOLUTION
IMAGERY
FIELD OF INVENTION
[0001] The embodiments herein generally relate to the field of aerial photography. More particularly, the invention relates to a flying system for generating high resolution imagery.
BACKGROUND AND PRIOR ART
[0002] An aerial photography is a process in which photographs are taken from an aircraft or other flying systems. Platforms for aerial photography include fixed-wing aircraft, helicopters, unmanned aerial vehicles (UAVs or drones), balloons, blimps and dirigibles, rockets, pigeons, kites, parachutes, stand-alone telescoping and vehicle-mounted poles. Aerial photography is used in cartography, land-use planning, archaeology, movie production, environmental studies, power line inspection, surveillance, commercial advertising, and artistic projects. [0003] Currently, the flying systems are equipped with single medium resolution camera for capturing aerial images whose depth of field is limited. In case of high resolution camera the weight of the equipment is also very high. Therefore, there is a need to develop a flying system for generating a high resolution imagery and to produce a point cloud and a depth map using very low weight multiple cameras around the flying system.

OBJECTS OF THE INVENTION
[0004] Some of the objects of the present disclosure are described herein below:
[0005] A main object of the present invention is to provide a flying system for
generating a high resolution imagery using very low weight multiple cameras
distributed around the flying system.
[0006] Another object of the present invention is to provide a flying system for
generating the high resolution imagery and to produce a point cloud and a depth
map.
[0007] Still another object of the present invention is to provide a flying system
for generating a digital surface model using a point cloud and a depth map along
with location information from a GPS unit, in which orientation of multiple
cameras is towards ground.
[0008] Yet another object of the present invention is to provide a flying system
for creating an obstacle avoidance system using a point cloud, a depth map and
telemetry information, in which orientation of multiple cameras is towards
backward direction, forward direction and sideways as well.
[0009] The other objects and advantages of the present invention will be apparent
from the following description when read in conjunction with the accompanying
drawings, which are incorporated for illustration of preferred embodiments of the
present invention and are not intended to limit the scope thereof.
SUMMARY OF THE INVENTION
[00010] In view of the foregoing, an embodiment herein provides a flying system for generating a high resolution imagery and to produce a point cloud and a depth

map. According to an embodiment, the flying system comprises of plurality of camera, plurality of image processing unit and a central processing unit. [00011] According to an embodiment, plurality of camera is distributed around the flying system. The plurality of camera is configured for capturing multiple aerial images in multi focus. According to an embodiment, plurality of image processing unit individually is connected to the plurality of camera. The plurality of image processing unit is configured for individually receiving the captured multiple aerial image from the plurality of camera.
[00012] According to an embodiment, the central processing unit is connected to the image processing unit. The central processing unit is configured for receiving the captured multiple aerial image with multiple focus and merging the captured multiple aerial image and thereby generating the high resolution imagery with majority of the image in focus. According to an embodiment, the point cloud and the depth map are produced from images obtained from plurality of cameras and the high resolution imagery using mathematical models.
[00013] Another embodiment provides a flying system for generating a digital surface model of ground using a point cloud and a depth map produced from images obtained from plurality of cameras and high resolution imagery. According to an embodiment, the flying system for generating the digital surface model of ground comprises of plurality of camera, plurality of image processing unit, a central processing unit, a GPS unit and an embedded processing unit. The plurality of camera is distributed around the flying system facing towards the ground and configured for capturing multiple aerial images in multi focus. The point cloud and the depth map are produced from the images obtained from plurality of cameras and high resolution imagery using mathematical models.

According to an embodiment, GPS unit is configured to reference the depth data generated which in return helps in obtaining location information of each point in the depth map. According to an embodiment, the embedded processing unit is configured for processing the point cloud and depth map along with each location information of cameras obtained through GPS in the depth map and thereby generating a digital surface model of the ground.
[00014] Another embodiment provides a flying system for creating an obstacle avoidance system using a point cloud and a depth map produced from images obtained from plurality of cameras and high resolution imagery. According to an embodiment, the flying system for creating the obstacle avoidance system comprises of plurality of camera, plurality of image processing unit, a central processing unit, telemetry feed system, an embedded processing unit and a control system. The plurality of camera distributed around the flying system is facing towards backward direction, forward direction and sideways as well and configured for capturing multiple aerial images in multi focus. According to an embodiment, telemetry feed system is configured for obtaining speed and direction of the flying system. According to an embodiment, the embedded processing unit is configured for processing the point cloud, the depth map along with the speed and direction of the flying system to estimate occurrence of the obstacle and thereby avoiding the obstacle by changing path of motion. According to an embodiment, the control system is configured for controlling motion of the flight system according to the estimation of occurrence of the obstacle. [00015] These and other aspects of the embodiments herein will be better appreciated and understood when considered in conjunction with the following description and the accompanying drawings. It should be understood, however,

that the following descriptions, while indicating preferred embodiments and numerous specific details thereof, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the embodiments herein without departing from the spirit thereof, and the embodiments herein include all such modifications.
BRIEF DESCRIPTION OF DRAWINGS
[00016] The detailed description is set forth with reference to the accompanying
figures. In the figures, the left-most digit (s) of a reference number identifies the
figure in which the reference number first appears. The use of the same reference
numbers in different figures indicates similar or identical items.
[00017] Fig. 1 illustrates a block diagram showing generation of high resolution
imagery and a point cloud and a depth map from the high resolution imagery,
according to an embodiment of the present invention herein;
[00018] Fig. 2 illustrates different flying systems, according to an embodiment of
the present invention herein;
[00019] Fig. 3 illustrates a block diagram showing generation of digital surface
model, according to an embodiment of the present invention herein; and
[00020] Fig. 4 illustrates a block diagram showing creation of obstacle avoidance
system, according to an embodiment of the present invention herein.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[00021] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments and detailed in the following description. Descriptions of well-

known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[00022] As mentioned above, there is a need to develop a flying system for generating a high resolution imagery and to produce a point cloud and a depth map. The embodiments herein achieve this by providing a flying system capable of generating high resolution imagery using very low weight multiple cameras distributed around the flying system. Referring now to the drawings, and more particularly to Fig.1 through Fig. 4, where similar reference characters denote corresponding features consistently throughout the figures, there are shown preferred embodiments.
[00023] Fig. 1 illustrates a block diagram 100 showing generation of high resolution imagery and generation of a point cloud and a depth map from the high resolution imagery. According to an embodiment, the flying system comprises of plurality of camera, plurality of image processing unit, a central processing unit. [00024] According to an embodiment, plurality of camera is distributed around the flying system. The plurality of camera is configured for capturing multiple aerial images in multi focus. According to an embodiment, plurality of image processing unit individually is connected to the plurality of camera. The plurality of image processing unit is configured for individually receiving the captured multiple aerial image from the plurality of camera.

[00025] According to an embodiment, the central processing unit is connected to the image processing unit. The central processing unit is configured for receiving the captured multiple aerial image and merging the captured multiple aerial image and thereby generating the high resolution imagery, point cloud and depth map. According to an embodiment, the point cloud and the depth map are produced from the plurality of cameras using mathematical models.
[00026] Fig. 2 illustrates different flying systems, according to an embodiment of the present invention. According to an embodiment, the different types of flying system includes but not limited to gas based balloon type blimps, Multi rotor type and fixed wing type. The fixed wing type flying system includes glider with no motors to single or multiple motors or single or multiple gas type IC engines or single or multiple jet type engines. The plurality of camera is distributed in forward direction 201, backward direction 202, sideways 203 and downwards 204.
[00027] Fig. 3 illustrates a block diagram 300 showing generation of digital surface model, according to an embodiment of the present invention. According to an embodiment, the flying system for generating the digital surface model of ground comprises of plurality of camera, plurality of image processing unit, a central processing unit, a GPS unit and an embedded processing unit. The plurality of camera is distributed around the flying system facing towards the ground 204 and configured for capturing multiple aerial images in multi focus. The point cloud and the depth map are produced from plurality of cameras and the high resolution imagery as shown in fig. 1. According to an embodiment, the GPS unit is configured to reference the depth data generated which in return helps users obtaining location information of each point in the depth map. GPS data

provides location information about the cameras. The GPS Unit is a precise RTK GPS Unit (real time kinematic global positioning system). According to an embodiment, the embedded processing unit is configured for processing the point cloud and depth map along with the location information of each camera unit which geo references the depth map and thereby generating a digital surface model of the ground. The digital surface model generated onboard is stored in a format like comma separated file which later is converted to standard formats once downloaded on ground.
[00028] Fig. 4 illustrates a block diagram 400 showing an obstacle avoidance system, according to an embodiment of the present invention. According to an embodiment, the flying system for creating the obstacle avoidance system comprises of plurality of camera, plurality of image processing unit, a central processing unit, telemetry feed system, an embedded processing unit and a control system. The plurality of camera distributed around the flying system is facing towards backward 202 and forward direction 201 and sideways 203 and configured for capturing multiple aerial images in multi focus. The point cloud and the depth map are produced from the plurality of cameras as shown in fig. 1. According to an embodiment, telemetry feed system is configured for obtaining speed and direction of the flying system. According to an embodiment, the embedded processing unit is configured for processing the point cloud, the depth map along with the speed and direction of the flying system to estimate occurrence of the obstacle and thereby avoiding the obstacle by changing path of motion. According to an embodiment, the control system is configured for controlling motion of the flight system or changing the path of flying system according to the estimation of occurrence of the obstacle.

[00029] A main advantage of the present invention is that the provided flying
system is capable to generate a high resolution imagery using very low weight
multiple cameras distributed around the flying system.
[00030] Another advantage of the present invention is that the provided flying
system is capable to produce a point cloud and a depth map from plurality of
cameras and the high resolution imagery.
[00031] Still another advantage of the present invention is that the provided
flying system is capable to generate a digital surface model using a point cloud
and a depth map along with location information from a GPS unit.
[00032] Yet another advantage of the present invention is that the provided
flying system is capable to create an obstacle avoidance system using a point
cloud, a depth map and telemetry information.
[00033] The foregoing description of the specific embodiments will so fully
reveal the general nature of the embodiments herein that others can, by applying
current knowledge, readily modify and/or adapt for various applications such
specific embodiments without departing from the generic concept, and, therefore,
such adaptations and modifications should and are intended to be comprehended
within the meaning and range of equivalents of the disclosed embodiments. It is to
be understood that the phraseology or terminology employed herein is for the
purpose of description and not of limitation. Therefore, while the embodiments
herein have been described in terms of preferred embodiments, those skilled in the
art will recognize that the embodiments herein can be practiced with modification
within the spirit and scope of the embodiments as described herein.

Dated 12th July 2018

11


Senthil Kumar N Patent Agent for the Applicant

We claim:
1. A flying system for generating a high resolution imagery and to produce a
point cloud and a depth map, wherein the flying system comprises of:
a camera for capturing an aerial image;
characterized in that
the flying system further includes plurality of camera distributed around
the flying system configured for capturing multiple aerial images in multi
focus;
plurality of image processing unit individually connected to the plurality
of camera configured for individually receiving the captured multiple
aerial image from the plurality of camera;
a central processing unit connected to the image processing unit
configured for receiving the captured multiple aerial image and merging
the captured multiple aerial image and thereby generating the high
resolution imagery with high focal bandwidth; and
wherein the point cloud and the depth map is produced from the plurality
of camera units and high resolution imagery using mathematical models.
2. The flying system as claimed in claim 1, wherein the point cloud and the depth map is processed for generating digital surface model of ground.
3. The flying system as claimed in claim 2, wherein an orientation of the plurality of camera distributed around the flying system is towards ground.
4. A flying system for generating a digital surface model of ground using a point cloud and a depth map produced from a high resolution imagery; wherein the flying system comprises of:

plurality of camera distributed around the flying system facing towards ground configured for capturing multiple aerial images in multi focus; plurality of image processing unit individually connected to the plurality of camera configured for individually receiving the captured multiple aerial image from the plurality of camera;
a central processing unit connected to the image processing unit configured for receiving the captured multiple aerial image and merging the captured multiple aerial image and thereby generating the high resolution imagery;
wherein the point cloud and the depth map are produced from plurality of camera units and the high resolution imagery using mathematical models; a GPS unit configured for obtaining location information of each camera unit which is used to geo reference the depth map;
an embedded processing unit configured for processing the point cloud and depth map along with the location information of each point in the depth map and thereby generating a digital surface model of the ground.
5. The flying system as claimed in claim 1, wherein the point cloud and the depth map is processed to generate obstacle avoidance system.
6. The flying system as claimed in claim 1, wherein an orientation of the plurality of camera distributed around the flying system is towards backward and forward direction and sideways.
7. A flying system for generating an obstacle avoidance system using a point cloud and a depth map produced from a high resolution imagery; wherein the flying system comprises of:

plurality of camera distributed around the flying system facing towards
backward and forward direction and sideways configured for capturing
multiple aerial images in multi focus;
plurality of image processing unit individually connected to the plurality
of camera configured for individually receiving the captured multiple
aerial image from the plurality of camera;
a central processing unit connected to the image processing unit
configured for receiving the captured multiple aerial image and merging
the captured multiple aerial image and thereby generating the high
resolution imagery;
wherein the point cloud and the depth map are produced from plurality of
camera units and the high resolution imagery using mathematical models
a telemetry feed system configured for obtaining speed and direction of
the flying system;
an embedded processing unit configured for processing the point cloud,
the depth map along with the speed and direction of the flying system to
estimate occurrence of the obstacle and thereby avoiding the obstacle by
changing path of motion;
a control system configured for controlling motion of the flight system
according to the estimation of occurrence of the obstacle.