US Patent 10056001 Three-dimensional representations of objects detected by an unmanned aerial vehicle

Described are systems, methods, and apparatus for detecting objects within a distance of an aerial vehicle, such as an unmanned aerial vehicle (“UAV”), and developing a three-dimensional model or representation of those objects. Rather than attempting to use stereo imagery to determine distances and/or depth of objects, the described implementations utilize range-gating, also known as time-gating, and the known position of the aerial vehicle to develop a three-dimensional representation of objects. For example, when the aerial vehicle is at a first position it may use range-gating to detect an object at a defined distance from the vehicle. The aerial vehicle may then alter its position again and use range-gating to detect an object that is the defined distance from the vehicle at the new position. This may be done at several different positions and the resulting information and aerial vehicle position information combined to form a three-dimensional representation of those objects.