公开(公告)号：US20230324911A1

公开(公告)日：2023-10-12

申请号：US18099571

申请日：2023-01-20

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 unmanned aerial vehicle (UAV) may include one or more processors configured to capture, with one or more image sensors, and while the UAV is in flight, a plurality of images of a target. The one or more processors may compare a first image of the plurality of images with a second image of the plurality of images 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. In addition, the one or more processors may determine, based at least on the difference, and while the UAV is in flight, an update to a three-dimensional model of the target.

公开(公告)号：US11455895B2

公开(公告)日：2022-09-27

申请号：US16987336

申请日：2020-08-06

Applicant: Skydio, Inc.

Inventor： Peter Henry ,  Jack Zhu ,  Brian Richman ,  Harrison Zheng ,  Hayk Martirosyan ,  Matthew Donahoe ,  Abraham Galton Bachrach ,  Adam Bry

IPC: 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 ,  H04N13/204

Abstract: 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：US20210125503A1

公开(公告)日：2021-04-29

申请号：US16987336

申请日：2020-08-06

Applicant: Skydio, Inc.

Inventor： Peter Henry ,  Jack Zhu ,  Brian Richman ,  Harrison Zheng ,  Hayk Martirosyan ,  Matthew Donahoe ,  Abraham Galton Bachrach ,  Adam Bry

IPC: G08G5/00 ,  H04N5/272 ,  G06F3/0484 ,  G06F3/0481 ,  G06T17/05 ,  G06T19/00 ,  G06K9/00 ,  B64C39/02 ,  B64D47/08 ,  G05D1/10 ,  G05D1/00 ,  G08G5/04 ,  G01S13/89 ,  G01S17/89

Abstract: 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.