公开(公告)号：US20230244750A1

公开(公告)日：2023-08-03

申请号：US18161024

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: G06F17/16 ,  G05D1/00 ,  G06F9/52

CPC classification number: G06F17/16 ,  G05D1/0022 ,  G06F9/526

Abstract: A computer accesses a first symbolic expression for an output value as a function of an input value. The computer computes a first symbolic Jacobian of the input value with respect to an input tangent space from a symbolic Lie group definition. The computer computes a second symbolic Jacobian of the output value with respect to the input value. The computer computes a third symbolic Jacobian of an output tangent space with respect to the input value from the symbolic Lie group definition. The computer applies symbolic matrix multiplication to the first symbolic Jacobian, the second symbolic Jacobian, and the third symbolic Jacobian to obtain a second symbolic expression for the output tangent space with respect to the input tangent space. The computer provides a representation of the second symbolic expression.

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：US12148205B2

公开(公告)日：2024-11-19

申请号：US17522973

申请日：2021-11-10

Applicant: SKYDIO, INC.

Inventor： Peter Benjamin Henry ,  Hayk Martirosyan ,  Quentin Allen Wah Yen Delepine ,  Himel Mondal ,  Abraham Galton Bachrach

IPC: G06V20/17 ,  B64C39/02 ,  G08G5/00 ,  B64U101/30

Abstract: In some examples, an unmanned aerial vehicle (UAV) may determine a plurality of contour paths spaced apart from each other along at least one axis associated with a scan target. For instance, each contour path may be spaced away from a surface of the scan target based on a selected distance. The UAV may determine a plurality of image capture locations for each contour path. The image capture locations may indicate locations at which an image of a surface of the scan target is to be captured. The UAV may navigate along the plurality of contour paths based on a determined speed while capturing images of the surface of the scan target based on the image capture locations.

公开(公告)号：US11861896B1

公开(公告)日：2024-01-02

申请号：US17707841

申请日：2022-03-29

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 ,  G06V10/82 ,  G06V10/30 ,  H04N5/33 ,  G06T5/00 ,  G06T3/40 ,  G05D1/10 ,  B64C39/02 ,  G06V10/60 ,  B64U101/30

CPC classification number: G06V20/17 ,  B64C39/024 ,  G05D1/101 ,  G06T3/4038 ,  G06T5/008 ,  G06V10/30 ,  G06V10/60 ,  G06V10/82 ,  H04N5/33 ,  B64U2101/30 ,  B64U2201/10 ,  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：US20230244247A1

公开(公告)日：2023-08-03

申请号：US18161023

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: G05D1/10 ,  G05D1/00 ,  B64C39/02 ,  G06V10/75

CPC classification number: G05D1/101 ,  G05D1/0088 ,  B64C39/024 ,  G06V10/751 ,  B64U2101/30

Abstract: A computer of an unmanned aerial vehicle (UAV) accesses, from a memory unit, a problem definition comprising cost functions associated with travel of the UAV. The computer causes movement of the UAV based on the cost functions. The computer adjusts one or more of the cost functions during a flight of the UAV. The computer causes further movement of the UAV based on the adjusted one or more of the cost functions.

公开(公告)号：US20220234733A1

公开(公告)日：2022-07-28

申请号：US17665811

申请日：2022-02-07

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

IPC: B64C39/02 ,  G06V20/13 ,  G06V20/40 ,  G06V20/64

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.

公开(公告)号：US11347244B2

公开(公告)日：2022-05-31

申请号：US16789176

申请日：2020-02-12

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：US20200183428A1

公开(公告)日：2020-06-11

申请号：US16789176

申请日：2020-02-12

Applicant: Skydio, Inc.

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

IPC: G05D1/10 ,  G06T7/277 ,  G08G5/04 ,  G06T7/246 ,  G06K9/00 ,  G06T17/05 ,  G06T7/593 ,  B64C39/02 ,  G08G5/00

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：US10599161B2

公开(公告)日：2020-03-24

申请号：US15671743

申请日：2017-08-08

Applicant: Skydio, Inc.

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

IPC: G05D1/10 ,  G08G5/00 ,  B64C39/02 ,  G06T7/593 ,  G06T17/05 ,  G06K9/00 ,  G06T7/246 ,  G08G5/04 ,  G06T7/277

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.