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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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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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Patent Agency Ranking
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：US12266131B2
公开(公告)日：2025-04-01
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
IPC: G06T7/70 , B64U10/13 , B64U50/37 , B64U70/90 , B64U70/97 , B64U70/99 , B64U80/25 , B64U101/30 , G01J1/42 , G05D1/00 , G06T7/50 , G06V20/17 , H04N23/56
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：US20240169719A1
公开(公告)日：2024-05-23
申请号：US18515416
申请日：2023-11-21
Applicant: Skydio, Inc.
Inventor： Samuel Shenghung Wang , Vladimir Nekrasov , Ryan David Kennedy , Gareth Benoit Cross , Peter Benjamin Henry , Kristen Marie Holtz , Hayk Martirosyan , Abraham Galton Bachrach , Adam Parker Bry
CPC classification number: G06V20/17 , B64C39/024 , G06T3/4038 , G06T5/94 , G06V10/30 , G06V10/60 , G06V10/82 , H04N5/33 , B64U2101/30 , G06T2207/10024 , G06T2207/10032 , G06T2207/20024 , G06T2207/20081 , G06T2207/20084 , G06T2207/20182 , G06T2207/30252
Abstract: Autonomous aerial navigation in low-light and no-light conditions includes using night mode obstacle avoidance intelligence, training, 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：US11787543B2
公开(公告)日：2023-10-17
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: 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：US20230280765A1
公开(公告)日：2023-09-07
申请号：US18161026
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
CPC classification number: G05D1/0825 , G06F17/18 , B64U10/00
Abstract: A computer accesses an input element storage and an output element storage. The computer accesses a symbolic expression for output element storage as a function of the input element storage. The computer computes, using a symbolic computation engine of the computer, a symbolic expression for the tangent space Jacobian of the output element storage with respect to an input tangent space. The computer outputs the computed expression.
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