Selective processing of sensor data

Abstract

Systems and methods for navigating a vehicle within an environment are provided. In one aspect, a method comprises: (a) selecting, with aid of a processor, a subset of a plurality of sensors to be used for navigating the vehicle within the environment based on one or more predetermined criteria, wherein the plurality of sensors are arranged on the vehicle such that each sensor of the plurality of sensors is configured to obtain sensor data from a different field of view; (b) processing, with aid of the processor, the sensor data from the selected sensor(s) so as to generate navigation information for navigating the vehicle within the environment; and (c) outputting, with aid of the processor, signals for controlling the vehicle based on the navigation information.

1 - 20 . (canceled) 
     
     
         21 . A navigation system for a vehicle within an environment, comprising:
 one or more imaging devices each configured to capture a plurality of images; and   one or more processors operably coupled to the imaging devices and individually or collectively configured to:   calculate a number of feature points of the plurality of images from each imaging device,   determine whether the number of feature points meets a predetermined threshold,   select at least one of the imaging devices having the number of feature points that meets the predetermined threshold to be used for navigating the vehicle within the environment,   process the plurality of images from the at least one of selected imaging devices without processing the plurality of images from unselected imaging device so as to generate state information for navigating the vehicle within the environment, and   output control signals based on the state information for controlling the vehicle within the environment.   
     
     
         22 . The navigation system according to  claim 21 , wherein the predetermined threshold is a minimum feature point number, and each selected imaging device has a number of feature points that is larger than or equal to the minimum feature point number. 
     
     
         23 . The navigation system according to  claim 21 , wherein the predetermined threshold is based on a predetermined rank of feature point numbers among the one or more imaging devices. 
     
     
         24 . The navigation system according to  claim 21 , further comprising:
 one or more secondary imaging devices each configured to capture a plurality of secondary images,   wherein the one or more processors are further configured to:   after determining that none of the imaging devices having the number of feature points that meets the predetermined threshold, calculate a number of feature points of the plurality of secondary images from each secondary imaging device,   determine whether the number of feature points of the plurality of secondary images meets a predetermined secondary threshold,   select at least one of the secondary imaging devices having the number of feature points that meets the predetermined secondary threshold, and   process the plurality of secondary images from the at least one of selected secondary imaging devices to generate the state information for navigating the vehicle within the environment.   
     
     
         25 . The navigation system according to  claim 21 , wherein:
 the vehicle is an unmanned vehicle; and   the one or more imaging devices are arranged on the vehicle such that each imaging device is configured to capture the plurality of images from a different view.   
     
     
         26 . The navigation system according to  claim 21 , wherein the one or more imaging devices are each oriented in a different direction relative to the vehicle. 
     
     
         27 . The navigation system according to  claim 21 , wherein the feature point number in each image is calculated based on a corner detection algorithm. 
     
     
         28 . The navigation system according to  claim 21 , wherein the state information comprises at least one of a position, an attitude, a velocity, or an acceleration of the vehicle. 
     
     
         29 . The navigation system according to  claim 28 , wherein the attitude comprises at least one of a roll orientation, a pitch orientation, or a yaw orientation of the vehicle. 
     
     
         30 . A method for a navigating system of a vehicle within an environment, the navigating system including one or more imaging devices each configured to capture a plurality of images, the method comprising:
 calculating a number of feature points of the plurality of images from each imaging device;   determining whether the number of feature points meets the predetermined threshold;   selecting at least one of the imaging devices having the number of feature points that meets the predetermined threshold to be used for navigating the vehicle within the environment;   processing the plurality of images from the at least one of selected imaging devices without processing the plurality of images from unselected imaging device so as to generate state information for navigating the vehicle within the environment; and   outputting control signals based on the state information for controlling the vehicle within the environment.   
     
     
         31 . The method according to  claim 30 , wherein the predetermined threshold is a minimum feature point number, and each selected imaging device has a number of feature points that is larger than or equal to the minimum feature point number. 
     
     
         32 . The method according to  claim 30 , wherein the predetermined threshold is based on a predetermined rank of feature point numbers among the one or more imaging devices. 
     
     
         33 . The method according to  claim 30 , wherein the navigating system further includes one or more secondary imaging devices each configured to capture a plurality of secondary images; and the method further includes:
 after determining that none of the imaging devices having the number of feature points that meets the predetermined threshold, calculating a number of feature points of the plurality of secondary images from each secondary imaging device,   determining whether the number of feature points of the plurality of secondary images meets a predetermined secondary threshold,   selecting at least one of the secondary imaging devices having the number of feature points that meets the predetermined secondary threshold, and   processing the plurality of secondary images from the at least one of selected secondary imaging devices to generate the state information for navigating the vehicle within the environment.   
     
     
         34 . The method according to  claim 30 , wherein:
 the vehicle is an unmanned vehicle; and   the one or more imaging devices are arranged on the vehicle such that each imaging device is configured to capture the plurality of images from a different view.   
     
     
         35 . The method according to  claim 30 , wherein the one or more imaging devices are each oriented in a different direction relative to the vehicle. 
     
     
         36 . The method according to  claim 30 , wherein the feature point number in each image is calculated based on a corner detection algorithm. 
     
     
         37 . The method according to  claim 30 , wherein the state information comprises at least one of a position, an attitude, a velocity, or an acceleration of the vehicle. 
     
     
         38 . The method according to  claim 37 , wherein the attitude comprises at least one of a roll orientation, a pitch orientation, or a yaw orientation of the vehicle.