公开(公告)号：US20180246507A1

公开(公告)日：2018-08-30

申请号：US15894260

申请日：2018-02-12

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/00 ,  G01C21/16 ,  G01C23/00 ,  B64D47/08 ,  B64C39/02

CPC classification number: G05D1/0016 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64D47/08 ,  G01C21/165 ,  G01C23/00 ,  G05D1/0027 ,  G05D1/0044 ,  G05D1/0094

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.

公开(公告)号：US09798322B2

公开(公告)日：2017-10-24

申请号：US14689008

申请日：2015-04-16

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0038 ,  B64C39/00 ,  G05D1/0016 ,  G05D1/0044 ,  G05D1/0094 ,  G06F3/00 ,  H04N5/00

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 user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.

公开(公告)号：US20150370250A1

公开(公告)日：2015-12-24

申请号：US14688998

申请日：2015-04-16

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/00 ,  B64C39/02 ,  G05D1/10

CPC classification number: G05D1/0016 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64D47/08 ,  G01C21/165 ,  G01C23/00 ,  G05D1/0027 ,  G05D1/0044 ,  G05D1/0094

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.

Abstract translation: 描述了使用诸如智能电话的便携式多功能装置（PMD）与无人驾驶飞行器（称为飞行数字助理或FDA）进行用户交互的新范例的方法和系统。 在一些实施例中，描述了魔术棒用户交互范例，用于使用PMD直观地控制FDA。 在其他实施例中，描述了用于脚本化镜头的方法。

公开(公告)号：US11829141B2

公开(公告)日：2023-11-28

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: G06V20/13 ,  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 ,  G06V20/64 ,  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 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.

公开(公告)号：US11755041B2

公开(公告)日：2023-09-12

申请号：US17360495

申请日：2021-06-28

Applicant: Skydio, Inc.

Inventor： Jack Louis Zhu ,  Hayk Martirosyan ,  Abraham Bachrach ,  Matthew Donahoe ,  Patrick Lowe ,  Kristen Marie Holtz ,  Adam Bry

IPC: G05D1/12 ,  G05D1/00 ,  B64C39/02 ,  G06T7/20 ,  G05D1/10 ,  H04N5/272 ,  H04N23/695 ,  B64U101/30

CPC classification number: G05D1/12 ,  B64C39/024 ,  G05D1/0094 ,  G05D1/101 ,  G06T7/20 ,  H04N5/272 ,  H04N23/695 ,  B64U2101/30 ,  B64U2201/10 ,  G06T2207/30241 ,  G06T2207/30261

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.

公开(公告)号：US20230244234A1

公开(公告)日：2023-08-03

申请号：US18120669

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 ,  G05B17/02 ,  B64C39/024 ,  B64D47/08 ,  B64D31/06 ,  G05D1/101 ,  G06T17/00 ,  G06T7/55 ,  G06T7/74 ,  G05B13/0265 ,  G05D1/0088 ,  G06T19/20 ,  H04N23/64 ,  H04N23/90 ,  H04N23/695 ,  G06V20/13 ,  G06V20/64 ,  G06T2207/20221 ,  G06T2207/10032 ,  G06T2219/2004 ,  B64U10/13

Abstract: In some examples, an unmanned aerial vehicle (UAV) may access a scan plan that includes a sequence of poses for the UAV to assume to capture images of a scan target using one or more image sensors. The UAV may check a next pose of the scan plan for obstructions. Responsive to detection of an obstruction, the UAV may determine a backup pose based at least on a field of view of the next pose. The UAV may control a propulsion mechanism to cause the UAV to fly to assume the backup pose. The UAV may capture, based on the backup pose and using the one or more image sensors, one or more images of the scan target.

公开(公告)号：US20230185301A1

公开(公告)日：2023-06-15

申请号：US17899459

申请日：2022-08-30

Applicant: Skydio, Inc.

Inventor： Hayk Martirosyan ,  Adam Bry ,  Matthew Donahoe ,  Abraham Bachrach ,  Justin Michael Sadowski

IPC: G05D1/00 ,  B64C39/02 ,  B64D47/08 ,  G06T7/292 ,  G05D1/10

CPC classification number: G05D1/0094 ,  B64C39/024 ,  B64D47/08 ,  G06T7/292 ,  G05D1/106 ,  G06T2207/30252 ,  G06T2207/10032 ,  G06T2207/10021 ,  B64U10/13

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.

公开(公告)号：US20230021969A1

公开(公告)日：2023-01-26

申请号：US17890884

申请日：2022-08-18

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

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.

公开(公告)号：US20220390940A1

公开(公告)日：2022-12-08

申请号：US17830472

申请日：2022-06-02

Applicant: Skydio, Inc.

Inventor： Brian Richman ,  Matthew Thomas Beaudouin-Lafon ,  Charles VanSchoonhoven Wood ,  Peter Benjamin Henry ,  Jack Louis Zhu ,  Harrison Zheng ,  Hayk Martirosyan ,  Matthew Donahoe ,  Abraham Galton Bachrach ,  Adam Parker Bry

IPC: G05D1/00 ,  G06F3/04847 ,  H04N13/204 ,  B64C39/02

Abstract: In some examples, a computing apparatus may include one or more non-transitory computer-readable storage media and program instructions stored on the one or more computer-readable storage media that, when executed by one or more processors, direct the computing apparatus to perform various steps. For example, the program instructions may continually present a graphical user interface (GUI) at the computing apparatus including a display of a current view of the physical environment from a perspective of an aerial vehicle. The program instructions may detect user interactions with the GUI while the aerial vehicle is in flight. The user interactions may include instructions directing the aerial vehicle to maneuver within the physical environment and configure parameters for scanning a three-dimensional (3D) scan volume. The program instruction may then transmit, to the aerial vehicle, data encoding the instructions for performing a 3D scan of the 3D scan volume.

公开(公告)号：US11295458B2

公开(公告)日：2022-04-05

申请号：US15827945

申请日：2017-11-30

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 ,  G06K9/72 ,  G06K9/00 ,  G06K9/66 ,  G06T7/10 ,  G06T3/60 ,  G05D1/00 ,  H04N13/243 ,  H04N13/239 ,  G06T7/579 ,  H04N13/282 ,  G06T7/11 ,  G06T7/20 ,  H04N13/00 ,  G06N3/04

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.