公开(公告)号：US20240067334A1

公开(公告)日：2024-02-29

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

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.

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.

公开(公告)号：US11592845B2

公开(公告)日：2023-02-28

申请号：US17513179

申请日：2021-10-28

Applicant: Skydio, Inc.

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

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

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.

公开(公告)号：US11592844B2

公开(公告)日：2023-02-28

申请号：US17513138

申请日：2021-10-28

Applicant: Skydio, Inc.

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

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

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.

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.

公开(公告)号：US20250026506A1

公开(公告)日：2025-01-23

申请号：US18824286

申请日：2024-09-04

Applicant: Skydio, Inc.

Inventor： Asher Mendel Robbins-Rothman ,  Kellen James Waterman O'Rourke ,  Adam Nathan Lebovitz ,  Dylan Matthew Callaway ,  Benjamin Scott Thompson ,  Andrew Xu ,  Kevin Christoph Clemens ,  Harrison Weiwen Zheng ,  Ryan David Kennedy

IPC: B64U20/87 ,  B64U10/14

Abstract: An unmanned aerial vehicle (UAV) that includes: a chassis; a plurality of arms that extend outwardly from the chassis; a plurality of propeller assemblies that are supported by the plurality of arms; a canopy that is connected to the chassis so as to provide an outer cover for the UAV that is configured to protect internal components thereof; a frame that is supported by the canopy such that the frame is isolated from the chassis; and a plurality of image capture assemblies that are supported by the frame such that the frame separates the plurality of image capture assemblies from the chassis and the canopy so as to inhibit relative movement between the plurality of image capture assemblies during operation of the UAV.

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

IPC: G06V20/17 ,  B64C39/02 ,  G06T3/4038 ,  G06T5/94 ,  G06V10/30 ,  G06V10/60 ,  G06V10/82 ,  H04N5/33

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.

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：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.

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

IPC: G05D1/08 ,  G06F17/18

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.