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公开(公告)号：US12282524B2
公开(公告)日：2025-04-22
申请号：US18161028
申请日：2023-01-27
Applicant: Skydio, Inc.
Inventor： Hayk Martirosyan , Aaron Christopher Miller , Nathan Leo Bucki , Bradley Matthew Solliday , Ryan David Kennedy , Jack Louis Zhu , Teodor Tomic , Yixiao Sun , Josiah Timothy VanderMey , Gareth Benoit Cross , Peter Benjamin Henry , Dominic William Pattison , Samuel Shenghung Wang , Kristen Marie Holtz , Harrison Zheng
Abstract: A computer accesses a first symbolic expression for an output matrix as a function of an input matrix at a computing device comprising processing circuitry and memory. The computer computes a first Jacobian of the input matrix with respect to an input tangent space. The computer computes a second Jacobian of the output matrix with respect to the input matrix. The computer computes a third Jacobian of an output tangent space with respect to the input matrix. The computer applies symbolic matrix multiplication to the first Jacobian, the second Jacobian, and the third Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression, the second symbolic expression representing a computed tangent-space Jacobian.
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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：US11858628B2
公开(公告)日：2024-01-02
申请号：US18162193
申请日：2023-01-31
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: G01C21/34 , B64C39/02 , G08G5/00 , G06T7/593 , G06T17/05 , G06T7/246 , G08G5/04 , G06T7/277 , G05D1/10 , G06V20/13 , G06V20/17
CPC classification number: 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
Abstract: 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.
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公开(公告)号：US20230257116A1
公开(公告)日：2023-08-17
申请号：US18162227
申请日：2023-01-31
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: B64C39/02 , G08G5/00 , G06T7/593 , G06T17/05 , G06T7/246 , G08G5/04 , G06T7/277 , G05D1/10 , G06V20/13 , G01C21/34 , G06V20/17
CPC classification number: 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
Abstract: 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.
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公开(公告)号：US20230257115A1
公开(公告)日：2023-08-17
申请号：US18162193
申请日：2023-01-31
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: B64C39/02 , G08G5/00 , G06T7/593 , G06T17/05 , G06T7/246 , G08G5/04 , G06T7/277 , G05D1/10 , G06V20/13 , G01C21/34 , G06V20/17
CPC classification number: 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
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：US11611700B2
公开(公告)日：2023-03-21
申请号：US17373097
申请日：2021-07-12
Applicant: SKYDIO, INC.
Inventor： Peter Benjamin Henry , Hayk Martirosyan , Abraham Galton Bachrach , Clement Godard , Adam Parker Bry , Ryan David Kennedy
Abstract: 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.
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公开(公告)号：US20220315220A1
公开(公告)日：2022-10-06
申请号：US17505257
申请日：2021-10-19
Applicant: Skydio, Inc.
Inventor： 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
Abstract: 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.
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公开(公告)号：US11242144B2
公开(公告)日：2022-02-08
申请号：US16272111
申请日：2019-02-11
Applicant: Skydio, Inc.
Inventor： Kristen Marie Holtz , Hayk Martirosyan , Jack Louis Zhu , Adam Parker Bry , Matthew Joseph Donahoe , Abraham Galton Bachrach , Peter Benjamin Henry , Ryan David Kennedy
Abstract: A technique is introduced for autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing a sensor data such as images captured by onboard cameras to generate a ground map comprising multiple cells. A suitable footprint, comprising a subset of the multiple cells in the ground map that satisfy one or more landing criteria, is selected and control commands are generated to cause the aerial vehicle to autonomously land on an area corresponding to the footprint. In some embodiments, the introduced technique involves a geometric smart landing process to select a relatively flat area on the ground for landing. In some embodiments, the introduced technique involves a semantic smart landing process where semantic information regarding detected objects is incorporated into the ground map.
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公开(公告)号：US12296951B2
公开(公告)日：2025-05-13
申请号：US18463928
申请日：2023-09-08
Applicant: Skydio, Inc.
Inventor： Ryan David Kennedy , Peter Benjamin Henry , Hayk Martirosyan , Jack Louis Zhu , Abraham Galton Bachrach , Adam Parker Bry
IPC: G01C21/34 , B64C39/02 , B64U10/14 , G05D1/00 , G06T7/246 , G06T7/277 , G06T7/593 , G06T17/05 , G06V20/13 , G06V20/17 , G08G5/00 , G08G5/04 , B64U101/32
Abstract: 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.
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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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