公开(公告)号：US20240278912A1

公开(公告)日：2024-08-22

申请号：US18435299

申请日：2024-02-07

申请人： Skydio, Inc.

发明人： Peter Henry ,  Jack Zhu ,  Brian Richman ,  Harrison Zheng ,  Hayk Martirosyan ,  Matthew Donahoe ,  Abraham Galton Bachrach ,  Adam Bry

IPC分类号： 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分类号： 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

摘要： 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.

公开(公告)号：US12025983B2

公开(公告)日：2024-07-02

申请号：US18222786

申请日：2023-07-17

申请人： SKYDIO, INC.

发明人： 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分类号： 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分类号： 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

摘要： 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.

公开(公告)号：US20240062663A1

公开(公告)日：2024-02-22

申请号：US18351599

申请日：2023-07-13

申请人： Skydio, Inc.

发明人： Abraham Galton Bachrach ,  Adam Parker Bry ,  Matthew Joseph Donahoe ,  Hayk Martirosyan

IPC分类号： G08G5/00 ,  G06T19/00 ,  G06T7/70 ,  G05D1/10 ,  B64C39/02 ,  G05D1/00 ,  H04L67/131

CPC分类号： G08G5/0069 ,  G06T19/006 ,  G06T7/70 ,  G06T19/003 ,  G08G5/0039 ,  G05D1/106 ,  B64C39/024 ,  G05D1/0088 ,  H04L67/131 ,  G06T2207/10032 ,  G06T2219/024 ,  B64U2101/30

摘要： A technique for user interaction with an autonomous unmanned aerial vehicle (UAV) is described. In an example embodiment, perception inputs from one or more sensor devices are processed to build a shared virtual environment that is representative of a physical environment. The sensor devices used to generate perception inputs can include image capture devices onboard an autonomous aerial vehicle that is in flight through the physical environment. The shared virtual environment can provide a continually updated representation of the physical environment which is accessible to multiple network-connected devices, including multiple UAVs and multiple mobile computing devices. The shared virtual environment can be used, for example, to display visual augmentations at network-connected user devices and guide autonomous navigation by the UAV.

公开(公告)号：US11858628B2

公开(公告)日：2024-01-02

申请号：US18162193

申请日：2023-01-31

申请人： Skydio, Inc.

发明人： Ryan David Kennedy ,  Peter Benjamin Henry ,  Hayk Martirosyan ,  Jack Louis Zhu ,  Abraham Galton Bachrach ,  Adam Parker Bry

IPC分类号： G01C21/34 ,  B64C39/02 ,  G08G5/00 ,  G06T7/593 ,  G06T17/05 ,  G06T7/246 ,  G08G5/04 ,  G06T7/277 ,  G05D1/10 ,  G06V20/13 ,  G06V20/17

CPC分类号： B64C39/024 ,  G01C21/3453 ,  G05D1/106 ,  G06T7/246 ,  G06T7/277 ,  G06T7/593 ,  G06T17/05 ,  G06V20/13 ,  G06V20/17 ,  G08G5/0069 ,  G08G5/045 ,  B64U2201/10 ,  G06T2207/10021 ,  G06T2207/10032 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30188 ,  G06T2207/30241 ,  G06T2207/30252

摘要： An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.

公开(公告)号：US11740630B2

公开(公告)日：2023-08-29

申请号：US16439504

申请日：2019-06-12

申请人： Skydio, Inc.

发明人： Abraham Galton Bachrach ,  Adam Parker Bry ,  Matthew Joseph Donahoe ,  Hayk Martirosyan ,  Tom Moss

IPC分类号： G05D1/00 ,  B64C39/02 ,  G06T7/20 ,  G06V20/13 ,  G06V40/20 ,  G06V20/17 ,  B64U101/30

CPC分类号： G05D1/0094 ,  B64C39/024 ,  G05D1/0088 ,  G06T7/20 ,  G06V20/13 ,  G06V20/17 ,  G06V40/23 ,  B64U2101/30 ,  B64U2201/10 ,  G06T2207/30224 ,  G06T2207/30228

摘要： Sports and fitness applications for an autonomous unmanned aerial vehicle (UAV) are described. In an example embodiment, a UAV can be configured to track a human subject using perception inputs from one or more onboard sensors. The perception inputs can be utilized to generate values for various performance metrics associated with the activity of the human subject. In some embodiments, the perception inputs can be utilized to autonomously maneuver the UAV to lead the human subject to satisfy a performance goal. The UAV can also be configured to autonomously capture images of a sporting event and/or make rule determinations while officiating a sporting event.

公开(公告)号：US20230257116A1

公开(公告)日：2023-08-17

申请号：US18162227

申请日：2023-01-31

申请人： Skydio, Inc.

发明人： Ryan David Kennedy ,  Peter Benjamin Henry ,  Hayk Martirosyan ,  Jack Louis Zhu ,  Abraham Galton Bachrach ,  Adam Parker Bry

IPC分类号： B64C39/02 ,  G08G5/00 ,  G06T7/593 ,  G06T17/05 ,  G06T7/246 ,  G08G5/04 ,  G06T7/277 ,  G05D1/10 ,  G06V20/13 ,  G01C21/34 ,  G06V20/17

CPC分类号： B64C39/024 ,  G08G5/0069 ,  G06T7/593 ,  G06T17/05 ,  G06T7/246 ,  G08G5/045 ,  G06T7/277 ,  G05D1/106 ,  G06V20/13 ,  G01C21/3453 ,  G06V20/17 ,  G06T2207/30241 ,  G06T2207/30188 ,  G06T2207/10032 ,  G06T2207/10021 ,  G06T2207/20081 ,  G06T2207/30252 ,  G06T2207/20084 ,  B64U2201/10

摘要： An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.

公开(公告)号：US20230257115A1

公开(公告)日：2023-08-17

申请号：US18162193

申请日：2023-01-31

申请人： Skydio, Inc.

发明人： Ryan David Kennedy ,  Peter Benjamin Henry ,  Hayk Martirosyan ,  Jack Louis Zhu ,  Abraham Galton Bachrach ,  Adam Parker Bry

IPC分类号： B64C39/02 ,  G08G5/00 ,  G06T7/593 ,  G06T17/05 ,  G06T7/246 ,  G08G5/04 ,  G06T7/277 ,  G05D1/10 ,  G06V20/13 ,  G01C21/34 ,  G06V20/17

CPC分类号： B64C39/024 ,  G01C21/3453 ,  G05D1/106 ,  G06T7/246 ,  G06T7/277 ,  G06T7/593 ,  G06T17/05 ,  G06V20/13 ,  G06V20/17 ,  G08G5/045 ,  G08G5/0069 ,  B64U2201/10 ,  G06T2207/10021 ,  G06T2207/10032 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30188 ,  G06T2207/30241 ,  G06T2207/30252

摘要： An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.

公开(公告)号：US11611700B2

公开(公告)日：2023-03-21

申请号：US17373097

申请日：2021-07-12

申请人： SKYDIO, INC.

发明人： Peter Benjamin Henry ,  Hayk Martirosyan ,  Abraham Galton Bachrach ,  Clement Godard ,  Adam Parker Bry ,  Ryan David Kennedy

IPC分类号： H04N5/232 ,  B64C39/02 ,  B64D47/08 ,  G05D1/08 ,  H04N5/262

摘要： In some examples, an unmanned aerial vehicle (UAV) may control a position of a first camera to cause the first camera to capture a first image of a target. The UAV may receive a plurality of second images from a plurality of second cameras, the plurality of second cameras positioned on the UAV for providing a plurality of different fields of view in a plurality of different directions around the UAV, the first camera having a longer focal length than the second cameras. The UAV may combine at least some of the plurality of second images to generate a composite image corresponding to the first image and having a wider-angle field of view than the first image. The UAV may send the first image and the composite image to a computing device.

公开(公告)号：US11585949B2

公开(公告)日：2023-02-21

申请号：US17070997

申请日：2020-10-15

申请人： SKYDIO, INC.

发明人： Anurag Makineni ,  Kristen Marie Holtz ,  Gareth Benoit Cross ,  Hayk Martirosyan

IPC分类号： G01S19/47 ,  B64C39/02 ,  G08G5/00 ,  G01P15/18 ,  G01C19/00 ,  G01P15/08

摘要： In some examples, an unmanned aerial vehicle (UAV) may receive location information via the global navigation satellite system (GNSS) receiver and may receive acceleration information via an onboard accelerometer. The UAV may determine a first measurement of acceleration of the UAV in a navigation frame of reference based on information from the accelerometer prior to or during takeoff. In addition, the UAV may determine a second measurement of acceleration of the UAV in a world frame of reference based on the location information received via the GNSS receiver prior to or during takeoff. The UAV may determine a relative heading of the UAV based on the first and second acceleration measurements. The determined relative heading may be used for navigation of the UAV at least one of during or after takeoff of the UAV.

公开(公告)号：US20220315220A1

公开(公告)日：2022-10-06

申请号：US17505257

申请日：2021-10-19

申请人： Skydio, Inc.

发明人： Abraham Galton Bachrach ,  Adam Parker Bry ,  Gareth Benoit Cross ,  Peter Benjamin Henry ,  Kristen Marie Holtz ,  Ryan David Kennedy ,  Hayk Martirosyan ,  Vladimir Nekrasov ,  Samuel Shenghung Wang

IPC分类号： B64C39/02 ,  H04N5/225 ,  G06V20/17 ,  G06T7/50 ,  G06T7/70 ,  G01J1/42

摘要： Autonomous aerial navigation in low-light and no-light conditions includes using night mode obstacle avoidance intelligence and mechanisms for vision-based unmanned aerial vehicle (UAV) navigation to enable autonomous flight operations of a UAV in low-light and no-light environments using infrared data.