公开(公告)号：US09891621B2

公开(公告)日：2018-02-13

申请号：US15591883

申请日：2017-05-10

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/00 ,  B64C39/02 ,  G01C21/16 ,  G01C23/00 ,  B64D47/08

CPC classification number: G05D1/0016 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64D47/08 ,  G01C21/165 ,  G01C23/00 ,  G05D1/0027 ,  G05D1/0044 ,  G05D1/0094

Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.

公开(公告)号：US20170329324A1

公开(公告)日：2017-11-16

申请号：US15591883

申请日：2017-05-10

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/00 ,  B64D47/08 ,  B64C39/02

CPC classification number: G05D1/0016 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64D47/08 ,  G01C21/165 ,  G01C23/00 ,  G05D1/0027 ,  G05D1/0044 ,  G05D1/0094

Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.

公开(公告)号：US09678506B2

公开(公告)日：2017-06-13

申请号：US14688998

申请日：2015-04-16

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/00 ,  B64C39/02 ,  G01C21/16 ,  G01C23/00

CPC classification number: G05D1/0016 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2201/146 ,  B64D47/08 ,  G01C21/165 ,  G01C23/00 ,  G05D1/0027 ,  G05D1/0044 ,  G05D1/0094

Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.

公开(公告)号：US20240402702A1

公开(公告)日：2024-12-05

申请号：US18737462

申请日：2024-06-07

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/00 ,  B64C39/02 ,  B64D47/08 ,  B64U10/10 ,  B64U10/13 ,  B64U30/20 ,  B64U101/30 ,  G01C21/16 ,  G01C23/00 ,  G05D1/223 ,  G05D1/225 ,  G05D1/689 ,  G05D1/692

Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.

公开(公告)号：US12007763B2

公开(公告)日：2024-06-11

申请号：US18162122

申请日：2023-01-31

Applicant: Skydio, Inc.

Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

IPC: G05D1/00 ,  B64C39/02 ,  B64D47/08 ,  B64U10/10 ,  B64U10/13 ,  B64U30/20 ,  B64U101/30 ,  G01C21/16 ,  G01C23/00

CPC classification number: G05D1/0016 ,  B64C39/024 ,  B64D47/08 ,  G01C21/1656 ,  G01C23/00 ,  G05D1/0027 ,  G05D1/0044 ,  G05D1/0094 ,  B64U10/10 ,  B64U10/13 ,  B64U30/20 ,  B64U2101/30 ,  B64U2201/10 ,  B64U2201/20

Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a magic wand user interaction paradigm is described for intuitive control of an FDA using a PMD. In other embodiments, methods for scripting a shot are described.

公开(公告)号：US20240101254A1

公开(公告)日：2024-03-28

申请号：US18363832

申请日：2023-08-02

Applicant: Skydio, Inc.

Inventor： Ryan Kennedy ,  Peter Henry ,  Abraham Bachrach

IPC: B64C39/02 ,  B64D47/08 ,  G05D1/10 ,  G06T5/00 ,  G06T7/00 ,  G06T7/11 ,  H04N13/00 ,  H04N13/239 ,  H04N17/00 ,  H04N23/45 ,  H04N23/69 ,  H04N23/71 ,  H04N23/81 ,  H04N23/90

CPC classification number: B64C39/024 ,  B64D47/08 ,  G05D1/102 ,  G06T5/002 ,  G06T7/0002 ,  G06T7/11 ,  H04N13/00 ,  H04N13/239 ,  H04N17/002 ,  H04N23/45 ,  H04N23/69 ,  H04N23/71 ,  H04N23/811 ,  H04N23/90 ,  B64U2201/10 ,  G06T2207/10012 ,  G06T2207/10032 ,  G06T2207/30168

Abstract: 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：US20240069547A1

公开(公告)日：2024-02-29

申请号：US18463149

申请日：2023-09-07

Applicant: Skydio, Inc.

Inventor： Hayk Martirosyan ,  Adam Bry ,  Matthew Donahoe ,  Abraham Bachrach ,  Justin Michael Sadowski

IPC: G05D1/00 ,  B64C39/02 ,  B64D47/08 ,  G05D1/10 ,  G06T7/292

CPC classification number: G05D1/0094 ,  B64C39/024 ,  B64D47/08 ,  G05D1/106 ,  G06T7/292 ,  B64U10/13 ,  G06T2207/10021 ,  G06T2207/10032 ,  G06T2207/30252

Abstract: Methods and systems are disclosed for an unmanned aerial vehicle (UAV) configured to autonomously navigate a physical environment while capturing images of the physical environment. In some embodiments, the motion of the UAV and a subject in the physical environment may be estimated based in part on images of the physical environment captured by the UAV. In response to estimating the motions, image capture by the UAV may be dynamically adjusted to satisfy a specified criterion related to a quality of the image capture.

公开(公告)号：US11829142B2

公开(公告)日：2023-11-28

申请号：US18120669

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: 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 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 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：US20230359205A1

公开(公告)日：2023-11-09

申请号：US18222786

申请日：2023-07-17

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 ,  G05B17/02 ,  B64C39/024 ,  B64D47/08 ,  B64D31/06 ,  G05D1/101 ,  G06T17/00 ,  G06T7/55 ,  G06T7/74 ,  G05B13/0265 ,  G05D1/0088 ,  G06T19/20 ,  H04N23/64 ,  H04N23/90 ,  H04N23/695 ,  G06V20/13 ,  G06V20/64 ,  G06T2207/20221 ,  G06T2207/10032 ,  G06T2219/2004 ,  B64U10/13

Abstract: In some examples, an image of a scan target is presented in a user interface on a display associated with a computing device. The user interface receives at least one user input indicating at least one point in a perimeter or edge of a volume for encompassing the scan target presented in the image of the scan target. A graphical representation of the volume in relation to the image of the scan target is generated in the user interface. Information for defining a location of at least a portion of the volume in three-dimensional space is sent to an unmanned aerial vehicle (UAV) to cause, at least in part, the UAV to scan at least a portion of the scan target corresponding to the volume.

公开(公告)号：US11703864B2

公开(公告)日：2023-07-18

申请号：US17174583

申请日：2021-02-12

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: 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 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 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.