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公开(公告)号：US20240278912A1
公开(公告)日：2024-08-22
申请号：US18435299
申请日：2024-02-07
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
IPC: B64C39/02 , B64D47/08 , B64U10/13 , B64U101/30 , G01S13/89 , G01S17/89 , G05D1/223 , G05D1/224 , G05D1/606 , G06F3/04817 , G06F3/04845 , G06F3/04847 , G06T17/05 , G06T17/10 , G06T19/00 , G06V20/10 , G06V20/13 , G06V20/17 , G06V20/64 , G08G5/00 , G08G5/04 , H04N5/272 , H04N13/204
CPC classification number: B64C39/024 , B64D47/08 , G01S13/89 , G01S17/89 , G05D1/223 , G05D1/224 , G05D1/606 , G06F3/04817 , G06F3/04845 , G06F3/04847 , G06T17/05 , G06T17/10 , G06T19/006 , G06V20/13 , G06V20/17 , G06V20/176 , G06V20/647 , G08G5/003 , G08G5/04 , H04N5/272 , B64U10/13 , B64U2101/30 , B64U2201/00 , B64U2201/20 , H04N13/204
Abstract: Described herein are systems for roof scan using an unmanned aerial vehicle. For example, some methods include capturing, using an unmanned aerial vehicle, an overview image of a roof of a building from above the roof; presenting a suggested bounding polygon overlaid on the overview image to a user; determining a bounding polygon based on the suggested bounding polygon and user edits; based on the bounding polygon, determining a flight path including a sequence of poses of the unmanned aerial vehicle with respective fields of view at a fixed height that collectively cover the bounding polygon; fly the unmanned aerial vehicle to a sequence of scan poses with horizontal positions matching respective poses of the flight path and vertical positions determined to maintain a consistent distance above the roof; and scanning the roof from the sequence of scan poses to generate a three-dimensional map of the roof.
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公开(公告)号：US12025983B2
公开(公告)日：2024-07-02
申请号：US18222786
申请日：2023-07-17
Applicant: SKYDIO, INC.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Bachrach , Adam Bry , Ryan David Kennedy , Himel Mondal , Quentin Allen Wah Yen Delepine
IPC: G06T17/00 , B64C39/02 , B64D31/06 , B64D47/08 , G05B13/02 , G05B17/02 , G05D1/00 , G06T7/55 , G06T7/73 , G06T19/20 , G06V20/13 , G06V20/64 , H04N23/60 , H04N23/695 , H04N23/90 , B64U10/13 , B64U101/30
CPC classification number: G05D1/0094 , B64C39/024 , B64D31/06 , B64D47/08 , G05B13/0265 , G05B17/02 , G05D1/0088 , G05D1/101 , G06T7/55 , G06T7/74 , G06T17/00 , G06T19/20 , G06V20/13 , G06V20/64 , H04N23/64 , H04N23/695 , H04N23/90 , B64U10/13 , B64U2101/30 , G06T2207/10032 , G06T2207/20221 , G06T2219/2004
Abstract: In some examples, an image of a scan target is presented in a user interface on a display associated with a computing device. The user interface receives at least one user input indicating at least one point in a perimeter or edge of a volume for encompassing the scan target presented in the image of the scan target. A graphical representation of the volume in relation to the image of the scan target is generated in the user interface. Information for defining a location of at least a portion of the volume in three-dimensional space is sent to an unmanned aerial vehicle (UAV) to cause, at least in part, the UAV to scan at least a portion of the scan target corresponding to the volume.
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公开(公告)号：US20220309687A1
公开(公告)日：2022-09-29
申请号：US17712613
申请日：2022-04-04
Applicant: Skydio, Inc.
Inventor： Saumitro Dasgupta , Hayk Martirosyan , Hema Koppula , Alex Kendall , Austin Stone , Matthew Donahoe , Abraham Galton Bachrach , Adam Parker Bry
IPC: G06T7/292 , B64C39/02 , G06T7/73 , G06K9/62 , G06T7/10 , G06T3/60 , G05D1/00 , H04N13/243 , H04N13/239 , G06T7/579 , H04N13/282 , G06T7/11 , G06T7/20 , G06V20/13 , G06V30/194 , G06V30/262
Abstract: Systems and methods are disclosed for tracking objects in a physical environment using visual sensors onboard an autonomous unmanned aerial vehicle (UAV). In certain embodiments, images of the physical environment captured by the onboard visual sensors are processed to extract semantic information about detected objects. Processing of the captured images may involve applying machine learning techniques such as a deep convolutional neural network to extract semantic cues regarding objects detected in the images. The object tracking can be utilized, for example, to facilitate autonomous navigation by the UAV or to generate and display augmentative information regarding tracked objects to users.
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公开(公告)号：US11455894B2
公开(公告)日：2022-09-27
申请号：US16896066
申请日：2020-06-08
Applicant: Skydio, Inc.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Galton Bachrach , Adam Bry
IPC: G08G5/00 , G06F3/04845 , G06F3/04817 , G06T17/05 , G06T19/00 , G06F3/04847 , B64C39/02 , B64D47/08 , G05D1/10 , G05D1/00 , G08G5/04 , G01S13/89 , G01S17/89 , H04N5/272 , G06T17/10 , G06V20/13 , G06V20/10 , H04N13/204
Abstract: Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.
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公开(公告)号：US12169406B2
公开(公告)日：2024-12-17
申请号：US18520089
申请日：2023-11-27
Applicant: SKYDIO, INC.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Bachrach , Adam Bry , Ryan David Kennedy , Himel Mondal , Quentin Allen Wah Yen Delepine
IPC: G05D1/69 , B64C39/02 , B64D31/06 , B64D47/08 , G05B13/02 , G05B17/02 , G05D1/00 , G05D1/227 , G05D1/689 , G06T7/55 , G06T7/73 , G06T17/00 , G06T19/20 , G06V20/13 , G06V20/64 , H04N23/60 , H04N23/695 , H04N23/90 , B64U10/13 , B64U101/30
Abstract: In some examples, one or more processors of an aerial vehicle access a scan plan including a sequence of poses for the aerial vehicle to assume to capture, using the one or more image sensors, images of a scan target. A next pose of the scan plan is checked for obstructions, and based at least on detection of an obstruction, the one or more processors determine whether a backup pose is available for capturing an image of the targeted point orthogonally along a normal of the targeted point. 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, image capture of the targeted point is performed at an oblique angle to the normal of the targeted point.
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Patent Agency Ranking
公开(公告)号：US20240053771A1
公开(公告)日：2024-02-15
申请号：US18356332
申请日：2023-07-21
Applicant: Skydio, Inc.
Inventor： Jack Louis Zhu , Hayk Martirosyan , Abraham Bachrach , Matthew Donahoe , Patrick Lowe , Kristen Marie Holtz , Adam Bry
CPC classification number: G05D1/12 , G05D1/101 , G05D1/0094 , B64C39/024 , G06T7/20 , H04N5/272 , H04N23/695 , G06T2207/30261 , G06T2207/30241 , B64U2101/30
Abstract: Techniques are described for controlling an autonomous vehicle such as an unmanned aerial vehicle (UAV) using objective-based inputs. In an embodiment, the underlying functionality of an autonomous navigation system is exposed via an application programming interface (API) allowing the UAV to be controlled through specifying a behavioral objective, for example, using a call to the API to set parameters for the behavioral objective. The autonomous navigation system can then incorporate perception inputs such as sensor data from sensors mounted to the UAV and the set parameters using a multi-objective motion planning process to generate a proposed trajectory that most closely satisfies the behavioral objective in view of certain constraints. In some embodiments, developers can utilize the API to build customized applications for the UAV. Such applications, also referred to as “skills,” can be developed, shared, and executed to control behavior of an autonomous UAV and aid in overall system improvement.
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公开(公告)号：US20230244233A1
公开(公告)日：2023-08-03
申请号：US18120643
申请日：2023-03-13
Applicant: SKYDIO, INC.
Inventor： Peter Henry , Jack Zhu , Brian Richman , Harrison Zheng , Hayk Martirosyan , Matthew Donahoe , Abraham Bachrach , Adam Bry , Ryan David Kennedy , Himel Mondal , Quentin Allen Wah Yen Delepine
IPC: G05D1/00 , G05B17/02 , B64C39/02 , B64D47/08 , B64D31/06 , G05D1/10 , G06T17/00 , G06T7/55 , G06T7/73 , G05B13/02 , G06T19/20 , H04N23/60 , H04N23/90 , H04N23/695 , G06V20/13 , G06V20/64
CPC classification number: G05D1/0094 , B64C39/024 , B64D31/06 , B64D47/08 , G05B13/0265 , G05B17/02 , G05D1/0088 , G05D1/101 , G06T7/55 , G06T7/74 , G06T17/00 , G06T19/20 , G06V20/13 , G06V20/64 , H04N23/64 , H04N23/90 , H04N23/695 , B64U10/13 , G06T2207/10032 , G06T2207/20221 , G06T2219/2004
Abstract: In some examples, an unmanned aerial vehicle (UAV) may identify a scan target. The UAV may navigate to two or more positions in relation to the scan target. The UAV may capture, using one or more image sensors of the UAV, two or more images of the scan target from different respective positions in relation to the scan target. For instance, the two or more respective positions may be selected by controlling a spacing between the two or more respective positions to enable determination of parallax disparity between a first image captured at a first position and a second image captured at a second position of the two or more positions. The UAV may determine a three-dimensional model corresponding to the scan target based in part on the determined parallax disparity of the two or more images including the first image and the second image.
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公开(公告)号：US11573562B2
公开(公告)日：2023-02-07
申请号：US17077565
申请日：2020-10-22
Applicant: Skydio, Inc.
Inventor： Abraham Bachrach , Adam Bry , Matthew Donahoe
Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.
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公开(公告)号：US11460844B2
公开(公告)日：2022-10-04
申请号：US17388828
申请日：2021-07-29
Applicant: Skydio, Inc.
Inventor： Hayk Martirosyan , Adam Bry , Matthew Donahoe , Abraham Bachrach , Justin Michael Sadowski
Abstract: Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.
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公开(公告)号：US11126182B2
公开(公告)日：2021-09-21
申请号：US16723549
申请日：2019-12-20
Applicant: SKYDIO, INC.
Inventor： Hayk Martirosyan , Adam Bry , Matthew Donahoe , Abraham Bachrach , Justin Michael Sadowski
Abstract: Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.
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