公开(公告)号：US11829142B2

公开(公告)日：2023-11-28

申请号：US18120669

申请日：2023-03-13

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： G06T7/55 ,  G05D1/00 ,  G05B17/02 ,  B64C39/02 ,  B64D47/08 ,  B64D31/06 ,  G05D1/10 ,  G06T17/00 ,  G06T7/73 ,  G05B13/02 ,  G06T19/20 ,  H04N23/60 ,  H04N23/90 ,  H04N23/695 ,  G06V20/13 ,  G06V20/64 ,  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 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：US11703864B2

公开(公告)日：2023-07-18

申请号：US17174583

申请日：2021-02-12

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 ,  G05D1/00 ,  G05B17/02 ,  B64C39/02 ,  B64D47/08 ,  B64D31/06 ,  G05D1/10 ,  G06T7/55 ,  G06T7/73 ,  G05B13/02 ,  G06T19/20 ,  H04N23/60 ,  H04N23/90 ,  H04N23/695 ,  G06V20/13 ,  G06V20/64 ,  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 unmanned aerial vehicle (UAV) may determine, based on a three-dimensional (3D) model including a plurality of points corresponding to a scan target, a scan plan for scanning at least a portion of the scan target. For instance, the scan plan may include a plurality of poses for the UAV to assume to capture images of the scan target. The UAV may capture with one or more image sensors, one or more images of the scan target from one or more poses of the plurality of poses. Further, the UAV may determine an update to the 3D model based at least in part on the one or more images. Additionally, the UAV may update the scan plan based at least in part on the update to the 3D model.

公开(公告)号：US11573544B2

公开(公告)日：2023-02-07

申请号：US17174585

申请日：2021-02-12

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： B64C39/02 ,  B64D47/08 ,  B64D31/06 ,  G06T17/00 ,  G06T19/20 ,  G06T7/55 ,  G05D1/00 ,  H04N5/00 ,  G05B17/02 ,  G05D1/10 ,  H04N5/232 ,  H04N5/247 ,  G06T7/73 ,  G05B13/02

摘要： In some examples, an unmanned aerial vehicle (UAV) employs one or more image sensors to capture images of a scan target and may use distance information from the images for determining respective locations in three-dimensional (3D) space of a plurality of points of a 3D model representative of a surface of the scan target. The UAV may compare a first image with a second image to determine a difference between a current frame of reference position for the UAV and an estimate of an actual frame of reference position for the UAV. Further, based at least on the difference, the UAV may determine, while the UAV is in flight, an update to the 3D model including at least one of an updated location of at least one point in the 3D model, or a location of a new point in the 3D model.

公开(公告)号：US20220415185A1

公开(公告)日：2022-12-29

申请号：US17890887

申请日：2022-08-18

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： 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

摘要： 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：US20220406193A1

公开(公告)日：2022-12-22

申请号：US17890889

申请日：2022-08-18

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： 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

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：US20220337798A1

公开(公告)日：2022-10-20

申请号：US17733085

申请日：2022-04-29

申请人： Skydio, Inc.

发明人： Ryan Kennedy ,  Peter Henry ,  Abraham Bachrach

IPC分类号： H04N13/00 ,  H04N5/247 ,  H04N5/232 ,  G06T7/11 ,  H04N17/00 ,  G06T5/00 ,  B64C39/02 ,  B64D47/08 ,  H04N13/239 ,  G05D1/10 ,  G06T7/00 ,  H04N5/217 ,  H04N5/225 ,  H04N5/235 ,  G06V20/13

摘要： Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).

公开(公告)号：US11323680B2

公开(公告)日：2022-05-03

申请号：US16452978

申请日：2019-06-26

申请人： Skydio, Inc.

发明人： Ryan Kennedy ,  Peter Henry ,  Abraham Bachrach

IPC分类号： B64C39/02 ,  B64D47/08 ,  G05D1/10 ,  G06K9/00 ,  G06T5/00 ,  G06T7/00 ,  G06T7/11 ,  H04N13/00 ,  H04N13/239 ,  H04N5/225 ,  H04N5/235 ,  H04N5/247 ,  H04N5/232 ,  H04N17/00 ,  H04N5/217

摘要： Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).

公开(公告)号：US20210125406A1

公开(公告)日：2021-04-29

申请号：US16896066

申请日：2020-06-08

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： G06T17/10 ,  G05D1/00 ,  G06K9/00 ,  B64C39/02

摘要： 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：US12097957B2

公开(公告)日：2024-09-24

申请号：US17890884

申请日：2022-08-18

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： B64C39/00 ,  B64C39/02 ,  B64D47/08 ,  G01S13/89 ,  G01S17/89 ,  G05D1/00 ,  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 ,  B64U10/13 ,  B64U101/30 ,  H04N13/204

CPC分类号： B64C39/024 ,  B64D47/08 ,  G01S13/89 ,  G01S17/89 ,  G05D1/0016 ,  G05D1/0038 ,  G05D1/106 ,  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 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：US11952116B2

公开(公告)日：2024-04-09

申请号：US17890889

申请日：2022-08-18

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 ,  G01S13/89 ,  G01S17/89 ,  G05D1/00 ,  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 ,  B64U10/13 ,  B64U101/30 ,  H04N13/204

CPC分类号： B64C39/024 ,  B64D47/08 ,  G01S13/89 ,  G01S17/89 ,  G05D1/0016 ,  G05D1/0038 ,  G05D1/106 ,  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 ,  G05D2201/0207 ,  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.