公开(公告)号：US10706569B2

公开(公告)日：2020-07-07

申请号：US15176734

申请日：2016-06-08

Applicant: Amazon Technologies, Inc.

Inventor： Scott Raymond Harris ,  Barry James O'Brien ,  Joshua John Watson

IPC: G06T7/55 ,  G06T7/62 ,  H04N7/18 ,  G06T7/593

Abstract: This disclosure describes a configuration of an aerial vehicle, such as an unmanned aerial vehicle (“UAV”), that includes a plurality of cameras that may be selectively combined to form a stereo pair for use in obtaining stereo images that provide depth information corresponding to objects represented in those images. Depending on the distance between an object and the aerial vehicle, different cameras may be selected for the stereo pair based on the baseline between those cameras and a distance between the object and the aerial vehicle. For example, cameras with a small baseline (close together) may be selected to generate stereo images and depth information for an object that is close to the aerial vehicle. In comparison, cameras with a large baseline may be selected to generate stereo images and depth information for an object that is farther away from the aerial vehicle.

公开(公告)号：US10594937B2

公开(公告)日：2020-03-17

申请号：US16231448

申请日：2018-12-22

Applicant: Amazon Technologies, Inc.

Inventor： Scott Raymond Harris ,  Ishay Kamon ,  Joshua John Watson

IPC: H04N5/232 ,  G06K9/00 ,  H04N5/225 ,  H04N5/247

Abstract: An aerial vehicle may include a first sensor, such as a digital camera, having a lens or other component that includes a second sensor mounted thereto. Information or data, such as digital images, captured using the second sensor may be used to determine or predict motion of the lens, which may include components of translational and/or rotational motion. Once the motion of the lens has been determined or predicted, such motion may be used to stabilize information or data, such as digital images, captured using the first sensor, according to optical or digital stabilization techniques. Where operations of the first sensor and the second sensor are synchronized, motion of the second sensor may be modeled based on information or data captured thereby, and imputed to the first sensor.

公开(公告)号：US10435143B1

公开(公告)日：2019-10-08

申请号：US15415697

申请日：2017-01-25

Applicant: Amazon Technologies, Inc.

Inventor： Barry James O'Brien ,  Joshua John Watson ,  Scott Michael Wilcox

IPC: B64C27/08 ,  B64C1/06 ,  B64C1/22 ,  B64D47/08 ,  B64D9/00 ,  B64D45/04

Abstract: A configurable unmanned aerial vehicle (UAV) may include swappable components that may be selectable to configure a customized UAV just prior to deployment of the UAV that is configured to deliver a package to a destination. The UAV may include a plurality of ports that may accept swappable components. The ports may be coupled to a logic board to enable control of the swappable components. The ports and swappable components may enable quick replacement of a malfunctioning components, such as an image sensor, which may avoid subjecting a UAV to significant downtime for service. The malfunctioning component may then be serviced after the UAV is readied for a subsequent flight or deployed on a subsequent flight.

公开(公告)号：US20190149735A1

公开(公告)日：2019-05-16

申请号：US16231448

申请日：2018-12-22

Applicant: Amazon Technologies, Inc.

Inventor： Scott Raymond Harris ,  Ishay Kamon ,  Joshua John Watson

IPC: H04N5/232 ,  H04N5/225 ,  H04N5/247 ,  G06K9/00

Abstract: An aerial vehicle may include a first sensor, such as a digital camera, having a lens or other component that includes a second sensor mounted thereto. Information or data, such as digital images, captured using the second sensor may be used to determine or predict motion of the lens, which may include components of translational and/or rotational motion. Once the motion of the lens has been determined or predicted, such motion may be used to stabilize information or data, such as digital images, captured using the first sensor, according to optical or digital stabilization techniques. Where operations of the first sensor and the second sensor are synchronized, motion of the second sensor may be modeled based on information or data captured thereby, and imputed to the first sensor.

公开(公告)号：US10281916B1

公开(公告)日：2019-05-07

申请号：US15272152

申请日：2016-09-21

Applicant: Amazon Technologies, Inc.

Inventor： Chengwu Cui ,  Sarah Graber ,  Joshua John Watson ,  Scott Michael Wilcox

IPC: G05D1/00 ,  G05D1/10 ,  G05D1/02 ,  G06T7/00

Abstract: A method, device, and system for detecting transparent elements in a vehicle environment are described. In some examples, this may include accessing an image of a scene captured by an image capture device attached to a vehicle. A reflected image present in the image may be detected. The reflected image may include a portion of the vehicle. It may be determined that the scene includes a transparent element based at least in part on detecting the reflected image present in the image.

公开(公告)号：US10074183B1

公开(公告)日：2018-09-11

申请号：US15173378

申请日：2016-06-03

Applicant: Amazon Technologies, Inc.

Inventor： Joshua John Watson

IPC: G06K9/00 ,  H04N13/02 ,  G06T7/00 ,  G06T7/20 ,  G06T7/60 ,  B64C39/02 ,  B64C9/00

CPC classification number: B64C9/00 ,  B64C39/024 ,  B64C2201/104 ,  B64C2201/108 ,  B64C2201/123 ,  G06T7/593 ,  G06T2207/10032

Abstract: Described is an, such as an unmanned aerial vehicle (“UAV”), that includes stereo pairs of imaging element, each imaging element including a region of interest controller. The region of interest controller for an imaging element of the stereo pair receives movement information affecting the imaging element and selects a portion of pixels of a digital image formed by the imaging element. The portion of pixels are provided to an image processor that utilizes the portion of pixels to determine depth information for objects represented by the pixels.

公开(公告)号：US10033980B2

公开(公告)日：2018-07-24

申请号：US15243844

申请日：2016-08-22

Applicant: Amazon Technologies, Inc.

Inventor： Scott Patrick Boyd ,  Barry James O'Brien ,  Joshua John Watson ,  Scott Michael Wilcox

IPC: G06K9/00 ,  H04N13/00 ,  G06T7/70 ,  B64C39/02 ,  B64D31/00 ,  B64D47/08 ,  H04N13/02 ,  B64C11/00 ,  G01C3/10 ,  G03B35/02

Abstract: A propeller provided on an aerial vehicle may include a digital camera or other imaging device embedded into a surface of one of the blades of the propeller. The digital camera may capture images while the propeller is rotating at an operational speed. Images captured by the digital camera may be processed to recognize one or more objects therein, and to determine ranges to such objects by stereo triangulation techniques. Using such ranges, a depth map or other model of the surface features in an environment in which the aerial vehicle is operating may be defined and stored or used for any purpose. A propeller may include digital cameras or other imaging devices embedded into two or more blades, and may also use such images to determine ranges to objects by stereo triangulation techniques.

公开(公告)号：US10032275B1

公开(公告)日：2018-07-24

申请号：US15188919

申请日：2016-06-21

Applicant: Amazon Technologies, Inc.

Inventor： Joshua John Watson ,  Benjamin Griffin Novak ,  Barry James O'Brien ,  Scott Michael Wilcox ,  Benjamin Israel Caro ,  Scott Patrick Boyd

IPC: G06F7/00 ,  G06T7/00 ,  B64C39/02 ,  B64D47/08 ,  G01C25/00 ,  G06K9/62

Abstract: This disclosure describes systems, methods, and apparatus for automating the verification of aerial vehicle sensors as part of a pre-flight, flight departure, in-transit flight, and/or delivery destination calibration verification process. At different stages, aerial vehicle sensors may obtain sensor measurements about objects within an environment, the obtained measurements may be processed to determine information about the object, as presented in the measurements, and the processed information may be compared with the actual information about the object to determine a variation or difference between the information. If the variation is within a tolerance range, the sensor may be auto adjusted and operation of the aerial vehicle may continue. If the variation exceeds a correction range, flight of the aerial vehicle may be aborted and the aerial vehicle routed for a full sensor calibration.

公开(公告)号：US09969486B1

公开(公告)日：2018-05-15

申请号：US15188922

申请日：2016-06-21

Applicant: Amazon Technologies, Inc.

Inventor： Barry James O'Brien ,  Scott Michael Wilcox ,  Joshua John Watson

IPC: B64C13/20 ,  G01J5/52 ,  G05D1/06 ,  B64C39/02 ,  B64D47/08 ,  G01C25/00 ,  G01K15/00 ,  G01K13/00 ,  G06K9/62

CPC classification number: B64C13/20 ,  B64C39/022 ,  B64C39/024 ,  B64C2201/042 ,  B64C2201/044 ,  B64C2201/048 ,  B64C2201/108 ,  B64C2201/128 ,  B64C2201/145 ,  B64D47/08 ,  G01C25/00 ,  G01J5/522 ,  G01K13/00 ,  G01K15/00 ,  G05D1/0653 ,  G06K9/6202 ,  G06T2207/10024 ,  G06T2207/10032

Abstract: This disclosure describes systems, methods, and apparatus for automating the verification of aerial vehicle sensors as part of a pre-flight, flight departure, in-transit flight, and/or delivery destination calibration verification process. At different stages, aerial vehicle sensors may obtain sensor measurements about objects within an environment, the obtained measurements may be processed to determine information about the object, as presented in the measurements, and the processed information may be compared with the actual information about the object to determine a variation or difference between the information. If the variation is within a tolerance range, the sensor may be auto adjusted and operation of the aerial vehicle may continue. If the variation exceeds a correction range, flight of the aerial vehicle may be aborted and the aerial vehicle routed for a full sensor calibration.

公开(公告)号：US20180054604A1

公开(公告)日：2018-02-22

申请号：US15243844

申请日：2016-08-22

Applicant: Amazon Technologies, Inc.

Inventor： Scott Patrick Boyd ,  Barry James O'Brien ,  Joshua John Watson ,  Scott Michael Wilcox

IPC: H04N13/00 ,  G06T7/70 ,  H04N13/02 ,  B64D47/08 ,  B64C39/02 ,  B64D31/00

CPC classification number: H04N13/128 ,  B64C11/00 ,  B64C39/02 ,  B64C39/024 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/165 ,  B64D31/00 ,  B64D47/08 ,  G01C3/10 ,  G03B29/00 ,  G03B35/02 ,  G06T7/70 ,  H04N13/239

Abstract: A propeller provided on an aerial vehicle may include a digital camera or other imaging device embedded into a surface of one of the blades of the propeller. The digital camera may capture images while the propeller is rotating at an operational speed. Images captured by the digital camera may be processed to recognize one or more objects therein, and to determine ranges to such objects by stereo triangulation techniques. Using such ranges, a depth map or other model of the surface features in an environment in which the aerial vehicle is operating may be defined and stored or used for any purpose. A propeller may include digital cameras or other imaging devices embedded into two or more blades, and may also use such images to determine ranges to objects by stereo triangulation techniques.